<p>Five-axis inspection has been widely used for inspecting impeller blades. Existing research on five-axis inspection primarily focuses on generating five-axis scanning paths in the part coordinate system. However, it lacks analysis of impeller setups, which leads to the need for multiple fixture setups to complete the measurement. Currently, the impeller setup is entirely dependent on the operator’s experience and trial and error, even commercial software does not have this capability. To address this issue, this paper proposes a method to minimize impeller setups. First, the concept of the global accessibility map (GAM) is introduced for the first time to represent the required stylus orientations and measurement constraints. Then, an analytical solution for the GAM under different setups is derived, formulating the minimum setup task as a computer graphics problem. Finally, a binary-search-based algorithm is proposed to determine the minimum number of setups. Experimental validation demonstrates the effectiveness of the proposed method in calculating the minimum setups for inspecting an impeller. The method proposed in this paper can be applied to determine setups for any rotationally symmetric workpiece in five-axis inspection, whether on a CMM or a machine tool.</p>