A double ball bar (DBB) is used extensively to evaluate the geometric and dynamic performance of three-axis machine tools by means of the XY, YZ and XZ planar circular tests. However, research using a DBB to test the rotary axes of five-axis machine tools simply, quickly and effectively is scarce. In this paper, a method having two sttif to identify the imprecision of the rotary axes caused by the position-independent geometric errors (PIGEs) is presented for a tilting rotary type five-axis machine tool using a DBB. The first step is designed to evaluate two rotary axes with one setup. Its advantage of fast diagnosis effectively reduces the machine down time, and thus can be employed as a quick testing approach of the machine tool. However, if some of the diagnosed errors fall outside their tolerances, a more accurate but slower check needs to be carried out due to the limitation of the first step. The second step aims to test the two rotary axes separately, each in two sub-sttif. By means of varying the position of the pivot, the A- and C-axes can be tested individually. Both sttif are performed with only one axis moving, thus simplifying the error analysis. Implementation of the proposed methods was carried out on a Hermle C600U five-axis machine tool. To show the validity of the method, the identified PIGEs are compensated for in each step, which suggests that the first step can be used as a fast and preliminary indication of a five-axis machine tool’s performance, whilst the second can be carried out if a more thorough evaluation is needed.