A toolhead for use on a multi-axis machine tool consists of a support assembly equipped with a pivoting spindle designed to accept a removable tool-holder, and centered on a machining axis about which a tool clamped to the tool-holder can be driven in rotation. Also forming part of the toolhead is a depth stop affording an active surface substantially transverse to the machining axis and positionable against a surface of a workpiece. The depth stop is mounted to the support assembly and capable of movement along the machining axis between a first position, distanced from the spindle, and a second position of proximity to the spindle. Transducers incorporated into the toolhead are able to sense the position of the active surface relative to the support assembly, and thus used to control the depth to which the workpiece is penetrated by the tool.