Numerical controller controlling five-axis machining tool

A numerical controller for controlling a five-axis machining tool that machines a workpiece mounted on a table using three linear axes and two rotary axes, the numerical controller comprising:

• an axis-dependent compensation amount calculating unit that obtains an axis-dependent translational compensation amount and an axis-dependent rotational compensation amount on the basis of a commanded axis position;
• a translational compensation amount calculating unit that obtains a translational compensation amount from the axis-dependent translational compensation amount;
• a rotational compensation amount calculating unit that obtains a rotational compensation amount from the axis-dependent rotational compensation amount;
• a compensation amount adding unit that adds the translational compensation amount to a command linear axis position and adds the rotational compensation amount to a command rotary axis position;
• and
• a unit that drives the three linear axes and the two rotary axes to positions obtained by the compensation amount adding unit.