To perform a printing having less impact errors by obtaining an accurate cycle estimated value even when the printing is performed while a carriage is decelerated.

This inkjet recording device is equipped with a recording head 221 which discharges ink droplets, the carriage, a position detecting device (encoder) 206, a storage device 220, and a controlling device 215. In this case, the carriage moves in a direction orthogonal to the carrying direction of a printing medium on the printing medium while the recording head is mounted on the carriage. The position detecting device 206 outputs a position detecting signal by detecting the position of the carriage. The storage device 220 stores the moving state of the carriage in a form of a cycle of the position detecting signal accompanying the movement of the carriage. The controlling device writes the cycle information in a cycle table at the time of non-printing, and reads the cycle information from the cycle table at the time of printing. The cycle information is information which is obtained from the position detecting signal of the position detecting device when the carriage is driven under the same driving conditions as the time of printing, at the time of non-printing. The controlling device 215 calculates an estimated cycle based on the cycle information, calculates a head driving cycle based on the estimated cycle, and drives the recording head 221.