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 direction compensation amount storage unit configured to store a linear-axis-caused compensation amount associated with a combination of a linear axis position and a linear axis movement direction and a rotation-axis-caused compensation amount associated with a combination of a rotation axis position and a rotation axis movement direction;
• an axis movement direction determination unit configured to determine an instruction linear axis movement direction as each of the linear axis movement directions based on the instruction and an instruction rotation axis movement direction as each of the rotation axis movement directions based on the instruction;
• a movement-direction compensation-amount acquisition unit configured to acquire a linear-axis-caused compensation amount associated with the linear axis position based on the instruction and the instruction linear axis movement direction and a rotation-axis-caused compensation amount associated with the rotation axis position and the instruction rotation axis movement direction, by referring to the direction compensation amount storage unit;
• and
• a compensation unit configured to calculate a translation/rotation compensation amount based on the linear-axis-caused compensation amount and the rotation-axis-caused compensation amount and to add the calculated translation/rotation compensation amount to the linear axis position based on the instruction.