With the advantages of large field of view, low cost and simple structure, the freeform optical system has extensive requirements in space exploration and other fields. However, the current machining methods for freeform are difficult to meet the requirements of optical use. Based on a developed fast servo tool (FTS) device, this paper proposes an error compensation turning method for freeforms. Firstly, the Zernike polynomial fitting method is used to reconstruct the freeform surface shape error obtained from off-line measurement, and the offset compensation is used to correct the tool path. Then, the compensation processing physical system is built to simulate the off-line compensation processing of the workpiece to verify the feasibility of compensation processing. Finally, the turning compensation processing of convex freeform aluminum mirror is carried out, and the surface accuracy of the workpiece meets the requirements of visible band. The research results have important practical significance for realizing the fast response machining of free-form surface mirror.