A method for control of a drive for a tool or workpiece uses pilot control and a device with a control apparatus, the pilot control taking place depending on a frequency of movement. At least one of a frequency component of the reference value, a spectrum of the reference value, and a part thereof is used as the frequency of movement. At least one pilot factor is determined depending on the frequency of movement, and the at least one determined pilot factor, multiplied with a pilot value that corresponds to or is a derivative of the reference variable is used for pilot control. In this way, a contouring error can be advantageously reduced.