Automated fiber placement (AFP) is a recent development of composite manufacturing technology and is widely used in the field of aerospace. The post processing of AFP has an important influence to the stability of machine movement and the manufacturing accuracy. This paper presents a post processing algorithm of a kind of 7-DOF gantry-type automated fiber placement equipment. The linking coordinates are set up according to the structure of the machine. To solve the redundant degree problem, pose separation method is adopted to calculate the inverse kinematics of the spindle rotation DOF and the other six movement DOFs of the manipulator respectively. Finally, reasonable parameters of each motion of the machine are obtained by the proposed post-processing method.