Patent ID: 7686301

Claim:
A printing apparatus for printing on a printing medium by a printhead, comprising: a first roller which conveys the printing medium from a stacking position of the printing medium into the printing apparatus; a DC motor which supplies a driving force to said first roller; an encoder which detects a rotation amount of said first roller; generation means for generating a target position to cause said first roller to feed the printing medium; correction means for correcting the target position generated by said generation means; control means for generating a PWM signal on the basis of (1) the target position generated by said generation means or corrected by said correction means and (2) a detected position derived from the rotation amount detected by said encoder, and servo-controlling said DC motor by the PWM signal; first comparison means for repeatedly comparing the target position generated by said generation means or corrected by said correction means with the detected position derived from the rotation amount detected by said encoder in every servo period; and correction control means for controlling said correction means to perform correction in a case where a difference between the target position and the detected position, obtained by comparison result by said first comparison means, is larger than a predetermined threshold value.