Method for completely grinding large crankshafts of truck engines, ship engines or stationary engines, in which a) at least main bearings and crank pin bearings (10.1, 10.2) of the crankshaft are rough-ground and finish-ground with at least one first CBN grinding wheel; b) the rough-grinding and finish-grinding take place in a single setup of the crankshaft; c) main bearings (10.1) of the crankshaft including steady rest seats are rough-ground; d) one steady rest is lined up with each of the ground steady rest seats; e) the crankshaft is driven at both clamping ends by means of electric drives C1 and C2 operating synchronously to each other; characterized in that f) at least the two end regions of the crankshaft are rough-ground and finish-ground; g) a desired shape of the lateral surface of the crank pin bearing (10.2) and/or main bearing (10.1) is produced by interpolating movement of the first grinding wheel with the following axes, each CNC-controlled, an X1 axis bringing about an infeed of the first grinding wheel perpendicularly to the longitudinal axis of the main bearing or crank pin bearing, a Z1 axis bringing about a movement of the first grinding wheel parallel to the longitudinal axis of the main bearing or crank pin bearing, and a WK1 axis (16.1) constituting a pivot axis of the first grinding wheel, said pivot axis running through the grinding wheel and the engagement point of the grinding wheel with the longitudinal axis of the crankshaft, wherein the first grinding wheel has a width which is smaller than the axial length of the main bearing (10.1) and crank pin bearing (10.2) of the crankshaft; h) at least two current diameters of measurement locations spaced apart from each other along the axial length of the main bearings (10.1) and/or crank pin bearings (10.2) are measured in a measurement operation and the X1, Z1 and WK1 axes (16.1) of the first grinding wheel are controlled on the basis of the measurement results in order to obtain a desired contour of the lateral surface of the main bearings and/or the crank pin bearings of the crankshaft. a) at least main bearings and crank pin bearings (10.1, 10.2) of the crankshaft are rough-ground and finish-ground with at least one first CBN grinding wheel; b) the rough-grinding and finish-grinding take place in a single setup of the crankshaft; c) main bearings (10.1) of the crankshaft including steady rest seats are rough-ground; d) one steady rest is lined up with each of the ground steady rest seats; e) the crankshaft is driven at both clamping ends by means of electric drives C1 and C2 operating synchronously to each other; f) at least the two end regions of the crankshaft are rough-ground and finish-ground; g) a desired shape of the lateral surface of the crank pin bearing (10.2) and/or main bearing (10.1) is produced by interpolating movement of the first grinding wheel with the following axes, each CNC-controlled, an X1 axis bringing about an infeed of the first grinding wheel perpendicularly to the longitudinal axis of the main bearing or crank pin bearing, a Z1 axis bringing about a movement of the first grinding wheel parallel to the longitudinal axis of the main bearing or crank pin bearing, and a WK1 axis (16.1) constituting a pivot axis of the first grinding wheel, said pivot axis running through the grinding wheel and the engagement point of the grinding wheel with the longitudinal axis of the crankshaft, wherein the first grinding wheel has a width which is smaller than the axial length of the main bearing (10.1) and crank pin bearing (10.2) of the crankshaft; h) at least two current diameters of measurement locations spaced apart from each other along the axial length of the main bearings (10.1) and/or crank pin bearings (10.2) are measured in a measurement operation and the X1, Z1 and WK1 axes (16.1) of the first grinding wheel are controlled on the basis of the measurement results in order to obtain a desired contour of the lateral surface of the main bearings and/or the crank pin bearings of the crankshaft.