To appropriately take measures when an abnormality occurs.
A printing apparatus includes a motor that drives an object to be driven; a detection unit that detects the speed of the object to be driven; and a control unit that controls the drive of the motor based on a speed profile including an acceleration range, a constant-speed range, and a deceleration range, and determines that the speed of the object to be driven is abnormal when the difference between the detection speed of the detection unit and the speed of the speed profile exceeds a threshold where a first threshold is set in the constant-speed range, and a second threshold which is higher than the first threshold is set in at least a portion of the acceleration range and the deceleration range.
KAKEGAWA TOMOYOSHI
Osamu Suzawa
Kazuhiko Miyasaka
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