Numerical controller for multi-axis machine

A numerical controller for controlling a multi-axis machine which uses at least three linear axes and three rotary axes to machine a workpiece mounted on a table, the numerical controller comprising:

• axis-dependent error amount calculation means for calculating an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position;
• translation compensation amount calculation means for calculating a translation compensation amount based on the axis-dependent translation error amount;
• rotation compensation amount calculation means for calculating a rotation compensation amount based on the axis-dependent rotation error amount;
• compensation amount adding means for adding the translation compensation amount to a command linear axis position and adding the rotation compensation amount to a command rotary axis position;
• and
• means for driving the three linear axes and the three rotary axes to a position calculated by the compensation amount adding means.