Compensating device for working on a slope in viticulture

Machine for soil tillage to be arranged on a towing vehicle, wherein when the towing vehicle is travelling in a travel direction (F) an area of soil can be tilled with a soil tillage tool in an intermediate space between at least two obstacles, wherein the machine has a control device with which the soil tillage tool is pivotable into and out of the intermediate space and/or is movable in a transverse direction (Q) towards the machine and/or away from the machine into the intermediate space, wherein the control device comprises an adjusting device which causes the soil tillage tool to pivot in and out and/or to move in the transverse direction (Q) by an adjustment amount (S) after detection of an obstacle, characterized in that the control device further includes a regulating device which assigns an adjustment amount (S) to a value measured by a position sensor and transmits this adjustment amount (S) to the adjusting device, wherein the value measured by the position sensor is an angle of inclination which corresponds to a slope angle (ß), which exists between the transverse direction (Q) and a horizontal plane, wherein this horizontal plane exists orthogonally to a perpendicular vertical direction (V), which arises from the center of the earth, or which angle corresponds to a plumb angle (ß) which exists between the vertical direction (V) and a height direction (H) perpendicular to the transverse direction (Q).