Numerical controller capable of compensating error in consideration of axis movement direction

A numerical controller controlling a five-axis machining machine having three linear axes and two rotation axes and machining a workpiece set on a table based on an instruction of a program, comprising:

• a processor configured to:
• store, in a memory device, a linear-axis-caused compensation amount for each combination of movement directions of the three linear axes and a rotation-axis-caused compensation amount for each combination of movement directions of the two rotation axes, the linear-axis-caused compensation amount for correcting positional error between target positions and actual positions of the machining machine along the three linear axes, and the rotational-axis-caused compensation amount for correcting positional error between target positions and actual positions of the machining machine along the two rotation axes;
• determine linear axis movement direction for each of the three linear axes, and a rotation axis movement direction for each of the two rotation axes;
• acquire, from the memory device, a stored linear-axis-caused compensation amount for the combination of the determined linear axis movement direction of each of the three linear axes and a stored rotation-axis-caused compensation amount for the combination of the determined rotation axis movement direction of each of the two rotation axes;
• calculate a translation/rotation compensation amount based on the linear-axis-caused compensation amount and the rotation-axis-caused compensation amount;
• calculate corrected axis positions for each axis of the five-axis machining machine by modifying the positions of each axis based on the calculated translation/rotation compensation amount;
• and
• control the five-axis machining machine based on the corrected axis positions.