Abstract: To improve contour accuracy of the free-form contour trajectory control task that was executed by the direct drive XY table of two linear motors, a novel trajectory planning method based velocity vector field was proposed. In order to enhance the coordination performance and eliminate the "radial reduction" phenomenon, the velocity vector field of desired trajectory was constructed and biaxial coordination control was transformed into single axis velocity control. The velocity field was constructed based on the direction field grid point method, and in order to reduce the velocity error and contour error, the PI controller was designed. Simulation and experimental results demonstrate that the proposed scheme can ensure a higher contour accuracy of the system.