a numerical controller includes a commanded movement - amount adjustment section , in addition to a position command section and a positional deviation counter but also . the commanded movement - amount adjustment section calculates an adjusted command movement amount based on a commanded movement amount output from the position command section , positional deviation acquired from the positional deviation counter , and an actual velocity of a control axis , and outputs the calculated adjusted command movement amount to the positional deviation counter . when a load acts on a servo motor so that positional deviation is accumulated and the load is abruptly removed , a situation in which the servo motor abruptly accelerates with its maximum torque in an attempt to eliminate the accumulated positional deviation is avoided .