Abstract: A method for the numerical control of machines with several axes, in particular machine tools and robots, to compensate for the inaccuracies occurring when the axes are reversed, wherein varying friction conditions, as well as slackness and torsional effects are compensated using a friction precontrol. Rotation speed reference values are corrected by injecting a correction pulse with an acceleration-dependent injection amplitude and a constant decay time for each axis at the time of passage from one quadrant to another, with the associated change in direction. The injection amplitude and constant decay time are determined for each machine manually or learned in an additional embodiment automatically in a self-learning system in the form of a neural network.