Method for compensating for servo delay caused at an arc or corner

A numerical control method for executing numerical control processing, including a pulse distribution operation, based on a machining program having plural items of command data, the numerical control processing being executed based on an item of command data which has been preread, comprising the steps of:

• (a) computing a machining error based on an interpolation mode corresponding to a workpiece shape commanded by the machining program, and on a commanded speed;
• (b) computing the value of a difference between an allowable error and the computed machining error;
• (c) storing in memory, prior to said steps (a) and (b), the correspondence between a plurality of difference values and the delay times from the end of a pulse distribution operation, based on current command data, to the start of a pulse distribution operation based on succeeding command data;
• (d) reading the delay time corresponding to the actual difference value computed in said step (b), out of the memory;
• and
• (e) delaying, by the delay time, the start of the pulse distribution operation based on the succeeding command data.