An apparatus for forming a wave form for a stent from a wire includes a pair of tension wires configured to rotate about an axis. The tension wires and axis are substantially orthogonal to the stent wire disposed in a gap between the tension wires. When the tension wires are rotated, a bend is formed in the portion of the stent wire disposed between the tension wires. The tension wires may be controlled such that the axis of rotation is aligned with the particular tension wire around which the stent wire is to be bent for each particular bend formed in the stent wire, thereby preventing the particular tension wire from translating during rotation such that the tension wire behaves like a rotary pipe bending die around which the stent wire is bent. A feed assembly feeds the stent wire into the forming area between the tension wires.