Numerical control method with response delay compensating function

In a numerical control method for repetitively and alternately effect forward movement and backward movement of a controlled object, a numerical control method with response delay compensating function, comprising the steps of:

• (a) reading a program in which a commanded amount of forward movement, a commanded amount of backward movement, a commanded feed rate for forward movement, and a commanded feed rate for backward movement are stated, respectively;
• (b) calculating a command time period required for delivery of all of first command pulses relating to the forward movement of the controlled object on the basis of contents of statement of the thus read program;
• (c) detecting an amount of second command pulses delivered over a time period from an instant at which delivery of the second command pulses is started to an instant at which an amount of an error register associated with the forward movement commanded amount becomes less than a predetermined value, said second command pulses relating to the backward movement of the controlled object;
• (d) calculating a corrected commanded feed rate for subsequent forward movement and the backward movement as a function of the detected delivery amount of said second command pulses;
• and
• (e) delivering subsequent first and second command pulses at said corrected commanded feed rate over said calculated command time period.