JP2022152188A - Ink jet recording device and recording method - Google Patents

Abstract

To adjust accurately a recording position.SOLUTION: An ink jet recording device includes: setting means capable of setting either of a first speed starting-up control of controlling starting-up to a first reaching speed as a recording scan speed in performing recording, and a second speed starting-up control as a starting-up control of a speed faster than that of the first speed starting-up control; acquisition means for acquiring a correction value corresponding to the starting-up control set by the setting means in a first correction value corresponding to the first speed starting-up control and a second speed correction value corresponding to the second speed starting-up control; and correction means for correcting an ejection timing of ink, on the basis of the correction value acquired by the acquisition means.SELECTED DRAWING: Figure 11

Description

The present invention relates to a technique for adjusting a recording position recorded by a recording head of an inkjet recording apparatus.

2. Description of the Related Art There are recording apparatuses that perform recording by forming dots on a recording medium such as paper. Some printing apparatuses are mounted on a carriage, move in a predetermined direction with respect to a printing medium, and have ink ejection openings as printing elements arranged in a direction different from that direction (for example, the direction in which the printing medium is conveyed). There are devices that use heads. In a printing apparatus using such a print head, a process (hereinafter also referred to as registration adjustment) for determining appropriate ejection timing is required in order to match the landing positions of ink droplets ejected from the respective ejection port arrays.

Japanese Patent Application Laid-Open No. 2002-200002 describes a registration adjustment technique for matching the landing positions of forward and backward printing in bi-directional printing in which printing is performed while reciprocally scanning a print head.

JP 2010-241148 A

However, if the startup control of the scanning speed of the carriage is different, there is a possibility that the landing position will be shifted due to the change in the attitude variation amount of the carriage.

SUMMARY OF THE INVENTION An object of the present invention is to provide a technique for adjusting the recording position with high accuracy.

An inkjet recording apparatus according to an aspect of the present invention includes a recording head having a nozzle array in which nozzles for ejecting ink are arranged, and reciprocatingly scans the recording head in a direction different from the direction in which the nozzles are arranged. An inkjet printing apparatus that performs bi-directional printing on a printing medium by allowing the first speed to rise to a first arrival speed, which is the printing scanning speed for printing; A setting means capable of setting either a second speed start-up control that is a speed start-up control faster than the first speed start-up control, and corresponding to the first speed start-up control, A first correction value for correcting deviation of the landing position due to the nozzle row and a second correction value for correcting deviation of the landing position due to the nozzle row, corresponding to the second velocity start-up control an acquisition unit for acquiring a correction value corresponding to the start-up control set by the setting unit; and a correction unit for correcting ink ejection timing based on the correction value acquired by the acquisition unit. Characterized by

According to the present invention, the recording position can be adjusted with high accuracy.

1 is a perspective view showing an example of an external configuration of a recording apparatus; FIG. It is a figure which shows schematic structure of an optical sensor. 2 is a diagram showing an arrangement configuration of ejection nozzles of a print head; FIG. 3 is a diagram showing a functional configuration of a recording device; FIG. FIG. 10 is a diagram illustrating a configuration example of a registration adjustment pattern; FIG. 10 is a diagram illustrating an example of a registration adjustment pattern; It is a figure which shows the measurement result of an optical reflectance. FIG. 9 is a diagram showing scanning distances and recording scanning speeds for borderless printing and bordered printing; FIG. 10 is a diagram for explaining a change in attitude of a carriage; FIG. 4 is a diagram for explaining displacement of landing positions on a recording medium; 9 is a flowchart showing processing for determining a registration adjustment value; FIG. 10 is a diagram showing an example of a storage area for register adjustment values for bi-directional printing; FIG. 10 is a diagram illustrating an example of obtaining a registration adjustment value; FIG. 10 is a diagram illustrating an example of obtaining a registration adjustment value; FIG. 10 is a diagram for explaining landing deviation due to posture change of a carriage; FIG. 7 is a diagram for explaining landing deviation in unidirectional printing; 9 is a flowchart showing processing for determining a registration adjustment value; FIG. 10 is a diagram illustrating an example of a registration adjustment value storage area;

An example embodiment will be described in detail below with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the present invention, and not all combinations of features described in the embodiments are essential to the solution of the present invention. Also, the relative positions, shapes, and the like of the components described in the embodiments are merely examples, and are not meant to limit the scope of the present invention only to them.

<<First Embodiment>>
<Recording device configuration>
FIG. 1 is an external perspective view showing an overview of the configuration of an ink jet printing apparatus according to the present embodiment. The recording apparatus 100 includes a carriage 102 on which a recording head 103 that performs recording by ejecting ink according to the inkjet method is mounted. The recording apparatus 100 transmits the driving force generated by the carriage motor M1 to the carriage 102 through the transmission mechanism 104 to reciprocate the carriage 102 in the arrow A direction. The recording apparatus 100 feeds a recording medium P such as recording paper via a paper feeding mechanism 105 and conveys it to a recording position. The printing apparatus 100 performs printing by reciprocating the carriage 102 in a scanning direction (arrow A direction) intersecting the transport direction of the printing medium P and ejecting ink from the printing head 103 onto the printing medium P at the printing position.

In order to keep the print head 103 in good condition, the printing apparatus 100 moves the carriage 102 to the position of the recovery device 110 and intermittently performs ejection recovery processing for the print head 103 . In addition to the print head 103 , an ink cartridge 106 storing ink to be supplied to the print head 103 is mounted on the carriage 102 of the printing apparatus 100 . The ink cartridge 106 is detachably attached to the carriage 102 .

The printing apparatus 100 shown in FIG. 1 is configured to be capable of color printing. Specifically, the carriage 102 carries four ink cartridges each containing magenta (M), cyan (C), yellow (Y), and black (K) inks. These four ink cartridges are independently attachable and detachable.

The carriage 102 and the recording head 103 are configured so that the joint surfaces of both members are brought into proper contact to achieve and maintain a required electrical connection. The print head 103 performs printing by selectively ejecting ink from a plurality of ejection openings by applying energy according to a print signal. The print head 103 employs an ink jet system that uses thermal energy to eject ink, and is equipped with an electrothermal converter for generating thermal energy, and ejects ink from an ejection port. The electrothermal converters are provided corresponding to the respective ejection openings, and ink is ejected from the corresponding ejection openings by applying a pulse voltage to the corresponding electrothermal converters in accordance with a recording signal. In addition, the recording head is not limited to the recording head using the electrothermal transducer, and an ink jet recording head using a piezo element or an electrostatic element may be used.

As shown in FIG. 1, the carriage 102 is connected to a portion of a drive belt 107 of a transmission mechanism 104 that transmits the driving force of the carriage motor M1, and slides along a guide shaft 113 in the direction of arrow A. It is configured to be movably guided and supported. That is, the carriage 102 reciprocates along the guide shaft 113 by forward and reverse rotation of the carriage motor M1. Also, a scale 108 (CR encoder film) is provided to indicate the absolute position of the carriage 102 along the moving direction of the carriage 102 (direction of arrow A). In this embodiment, the scale 108 is a transparent PET film printed with black bars at a required pitch. there is

A platen (not shown) is provided in the printing apparatus 100 so as to face an ejection port surface on which ejection ports (not shown) of the print head 103 are formed. When the carriage 102 on which the recording head 103 is mounted reciprocates by the driving force of the carriage motor M1, a recording signal is given to the recording head 103 to eject ink, thereby covering the entire width of the recording medium P conveyed on the platen. A record is made. Further, by ejecting ink onto the platen (hereinafter referred to as preliminary ejection), ejection recovery processing is performed to prevent ejection failure due to drying of the ink in the ejection openings of the print head 103 . Preliminary ejection is performed on the platen outside the paper.

The recording head 103 is supported by a carriage 102, and the carriage 102 is connected to a motor (not shown) by a belt so as to be capable of reciprocating movement. The standby position of the printhead 103 is also called a home position. A position corresponding to the opposite side of the recording medium P is also called a back position. The position of the carriage 102 is managed by a linear scale arranged along the carriage scanning direction. The position of the carriage 102 is managed by optically reading the linear scale with an encoder sensor (not shown) provided on the carriage 102 . The speed of the carriage 102 is controlled by measuring the passage time of the scale 108 . Also, by setting each target speed at the position of the carriage 102, the speed is raised to reach a constant speed. The timing of ink ejection from the print head 103 (hereinafter also referred to simply as ejection timing) is also determined based on the read pulse output from the encoder sensor. It is possible to adjust the landing position on the recording medium P by delaying or advancing the ejection timing during carriage scanning using parameters for controlling the ejection timing.

The transport roller 114 in FIG. 1 is driven by a transport motor M2 to transport the recording medium P. As shown in FIG. The pinch roller 115 abuts the recording medium P against the conveying roller 114 with a spring (not shown). A pinch roller holder 116 rotatably supports the pinch roller 115 . The transport roller gear 117 is fixed to one end of the transport roller 114 . The conveying roller 114 is driven by the rotation of the conveying motor M2 transmitted to the conveying roller gear 117 via an intermediate gear (not shown).

A discharge roller 120 discharges the recording medium P on which an image has been formed by the recording head 103 to the outside of the inkjet recording apparatus. The discharge roller 120 is configured to be driven by transmission of the rotation of the transport motor M2. The discharge roller 120 contacts a spur roller (not shown) that presses the recording medium P by a spring (not shown). The spur holder 122 rotatably supports the spur roller.

The printing apparatus 100 is provided with a recovery device 110 for recovering ejection failure of the printing head 103 . As shown in FIG. 1, the recovery device 110 is located outside the range of reciprocating motion (outside the printing area) for the printing operation of the carriage 102 on which the printing head 103 is mounted (for example, a position corresponding to the home position). ).

The recovery device 110 includes a capping mechanism 111 that caps the ejection port surface of the print head 103 and a wiping mechanism 112 that cleans the ejection port surface of the print head 103 . The recovery device 110 performs ejection recovery processing in which ink is forcibly discharged from the ejection ports by a suction pump or the like in the recovery device in conjunction with the capping of the ejection port surface by the capping mechanism 111 . As a result, ink with increased viscosity or air bubbles in the ink flow path of the print head 103 can be removed.

Also, during non-printing operations, etc., the capping mechanism 111 caps the discharge port surface of the print head 103, thereby protecting the print head 103 and suppressing evaporation or drying of ink. The wiping mechanism 112 is arranged near the capping mechanism 111 and is configured to wipe off ink droplets adhering to the ejection port surface of the recording head 103 . These capping mechanism 111 and wiping mechanism 112 are configured to be able to maintain a normal ink ejection state of the print head 103 .

FIG. 2 is a diagram showing a schematic configuration of an optical sensor of the recording apparatus 100 of this embodiment. The carriage 102 is equipped with a recording head 103 and an ink cartridge 106 as well as a reflective optical sensor (hereinafter referred to as an optical sensor) 200 . The optical sensor 200 is a sensor capable of acquiring optical characteristics, optically reads a registration adjustment pattern (described later) recorded on the recording medium P, and measures the recording density. Note that the optical sensor 200 in FIG. 2 does not have a configuration for measuring the distance of the recording medium P, but measures the recording density of the registration adjustment pattern.

The optical sensor 200 includes, as shown in FIG. 2, a light-emitting portion 201 realized by an LED or the like and a light-receiving portion 202 realized by a photodiode or the like. Irradiation light 210 emitted by the light emitting unit 201 is reflected on the recording medium P, and the reflected light 220 is incident on the light receiving unit 202 . The light receiving unit 202 converts the reflected light 220 into an electrical signal.

When measuring the printing density of the registration adjustment pattern, the printing medium P is conveyed in the sub-scanning direction and the carriage 102 to which the optical sensor 200 is attached is alternately moved in the main scanning direction. Thereby, the optical sensor 200 detects the density of the registration adjustment pattern group recorded on the recording medium P as an optical reflectance.

FIG. 3 is a diagram showing the arrangement of ejection nozzles in the print head of this embodiment. The print head 103 is provided with a nozzle row in which a plurality of nozzles are arranged at predetermined intervals in the sub-scanning direction (Y direction, nozzle arrangement direction). In addition, the plurality of nozzle rows are shifted in the sub-scanning direction (Y direction, nozzle arrangement direction) that intersects (perpendicularly in this embodiment) the main scanning direction (X direction), which is the direction in which the nozzle rows are arranged. are arranged by Specifically, nozzles (302K, 302C, 302M, 302Y) that eject each color of ink (CMYK) are arranged at predetermined intervals along the sub-scanning direction, and each nozzle row is arranged along the main scanning direction. arranged along. Two nozzle rows (302K-A, 302K-B, 302C-A, 302C-B, 302M-A, 302M-B, 302YA, 302Y-B) are arranged corresponding to ink of each color. ing. In each nozzle row, for example, 640 nozzles are arranged at intervals of 600 dpi (dots/inch). Also, the nozzle rows (two nozzle rows) that eject the same color ink are arranged to be shifted from each other by 1200 dpi (half pitch) in the sub-scanning direction, for example. That is, in order to achieve a high printing resolution, the arrangement positions of the nozzle rows are shifted in the sub-scanning direction. In this embodiment, the resolution of each nozzle row in the sub-scanning direction is 600 dpi, but by shifting the arrangement positions of the nozzle rows, printing with a resolution of 1200 dpi in the sub-scanning direction is possible.

FIG. 4 is a diagram showing the functional configuration of the printing apparatus of this embodiment. The controller 60 comprises an MPU 51, a ROM 52, a ROM 57, a special purpose integrated circuit (ASIC) 53, a RAM 54, a system bus 55, an A/D converter 56 and the like. Here, the ROM 52 and ROM 57 store programs corresponding to control sequences to be described later, required tables, and other fixed data. The ROM 52 is composed of, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory), and its contents are rewritable.

The ASIC 53 controls the carriage motor M1 and the transport motor M2. The ASIC 53 also generates control signals for controlling the print head 103 . The RAM 54 is used as a development area for image data, a work area for program execution, or the like. A system bus 55 connects the MPU 51, ASIC 53, and RAM 54 to each other to exchange data. The A/D converter 56 A/D-converts an analog signal input from the sensor group 30 to be described later, and supplies the converted digital signal to the MPU 51 .

The MPU 51 centrally controls the operation of the recording apparatus 100 . For example, in the registration adjustment process, the MPU 51 determines a correction value for registration adjustment (hereinafter referred to as a registration adjustment value) based on the measurement result of the registration adjustment pattern described above. This registration adjustment value is, for example, temporarily stored in the RAM 54 and then stored in the ROM 52 . Further, the MPU 51 adjusts the ejection timing of the ink ejected from each nozzle based on the registration adjustment value stored in the RAM 54 or the like, and corrects the landing position (attachment position) of the dots formed on the recording medium. do. Further, the ROM 52 or the like holds information on the type of recording medium and information on the thickness of the recording medium, which is measured in advance and specified. Also, the ROM 52 or the like holds a rough estimated value for a type of recording medium for which thickness information is not specified.

The switch group 20 includes a power switch 21, a print switch 22, a recovery switch 23, and the like. The sensor group 30 is a sensor group for detecting device states, and includes a position sensor 31, a temperature sensor 32, and the like. When the print head 103 scans, the ASIC 53 transfers data for driving the print elements (ejection heaters) to the print head 103 while directly accessing the storage area of the RAM 54 .

A printhead control unit 44 controls the print operation by the printhead 103 . A carriage motor M1 is a driving source for reciprocating scanning of the carriage 102 in a predetermined direction, and a carriage motor driver 40 controls driving of the carriage motor M1. The transport motor M2 is a driving source for transporting the recording medium, and the transport motor driver 42 controls driving of the transport motor M2.

The host device 10 is a computer (or a reader for reading images, a digital camera, or the like) that serves as an image data supply source. Image data, commands, status signals, and the like are exchanged between the host device 10 and the recording device 100 via an interface (hereinafter referred to as I/F) 11 . The host device 10 has a printer driver, and the printer driver holds information about the type of recording medium and information about the thickness of the recording medium, which is measured in advance and specified. The printer driver also holds a rough estimate for types of recording media for which thickness information is not specified. The above is the description of the configuration of the recording apparatus 100 .

<Registrar adjustment>
The registration adjustment is a process of obtaining an appropriate ejection timing in order to match the landing positions of the ink droplets ejected from the ejection port array (nozzle array). As a registration adjustment method, for example, a reference pattern is printed on a print medium using a certain reference nozzle array, and a plurality of patterns are printed on the print medium by slightly shifting the print positions of the other nozzle arrays. Then, by measuring the density of the printed pattern, a correction amount (registration adjustment value) for registration adjustment that matches the printing positions is obtained. Also, in bi-directional printing, a reference pattern is printed in the forward direction, and a plurality of patterns with different print positions are printed in the backward direction to obtain a registration adjustment value that matches the forward and reverse direction print positions. . Registration adjustment patterns used in registration adjustment processing will be described below with reference to FIGS. 5 to 7. FIG.

FIG. 5 is a diagram for explaining a configuration example of a registration adjustment pattern when density detection is performed by the optical sensor 200 of this embodiment. The registration adjustment pattern is configured such that a rectangular pattern of i pixels×n pixels is periodically repeated in the main scanning direction for each blank area of m pixels. Further, the shifted pattern 502 is printed with the printing position shifted from the reference pattern 501 by a predetermined number of pixels a. The resolution and shift amount of these registration adjustment patterns may be determined according to the printing resolution of the printing apparatus. In this embodiment, the recording resolution is assumed to be 1200 dpi. In FIG. 5, for the convenience of explanation, the reference pattern and the shifted pattern are shown with being shifted in the vertical direction, but in reality the two patterns 501 and 502 are printed overlapping each other. That is, the reference pattern is printed superimposed on the shifted pattern shifted by the predetermined number of pixels a in the main scanning direction.

FIG. 6 shows an example in which a plurality of registration adjustment patterns shown in FIG. 5 are arranged and printed in the main scanning direction. In this case, the registration adjustment pattern group 610 shown in FIG. 6 is recorded while changing the shift amount a of the shift pattern from −3 pixels to +3 pixels. That is, as can be seen from FIG. 6, when the shift amount is 0, the reference pattern and the shifted pattern are printed overlapping each other. On the other hand, the greater the shift amount, the greater the deviation between the reference pattern and the shifted pattern, so the width of the pattern increases. For the sake of convenience, FIG. 6 shows an example in which the deviation between the reference pattern and the shifted pattern is reduced when the shift amount is 0. The positions where there is little deviation from the shift pattern are different.

When the amount of print position shift between the reference pattern and the shifted pattern changes, the area ratio of the ink on the print medium changes as shown in FIG.

FIG. 7 shows measurement results 720 of optical reflectance when each registration adjustment pattern shown in FIG. 6 is measured by the optical sensor 200 . The density is inversely proportional to the reflectance, and the density decreases as the positional deviation between the registration adjustment patterns actually printed on the recording medium decreases. In other words, the higher the reflectance of the shifted pattern, the less misaligned the pattern is, and the lower the density of the registration adjustment pattern, the lower the registration adjustment value.

The number of registration adjustment patterns to be formed on the print medium and the shift amount may be determined according to the adjustment range required from the mechanical tolerance of the apparatus or the print position shift unit. That is, it may be determined according to the accuracy of registration adjustment processing. Also, the printing area of the registration adjustment pattern is determined by the size of the detection area of the optical sensor 200, the width of the area that can be printed in one printing scan, or the size of the area in which the group of registration adjustment patterns can be printed on the printing medium. You should decide accordingly.

Further, the nozzle rows used to form the reference pattern and the shifted pattern are determined by a combination of the ink color and scanning direction of the nozzle rows to be adjusted. For example, for registration adjustment of ink colors of nozzle rows, a reference nozzle row (eg, 302K-A) is determined to form a reference pattern, and the other nozzle row (eg, 302C-A) forms a shifted pattern. Also, registration adjustment during bi-directional recording can be performed in the same manner as described above. For example, when forming the reference pattern, the nozzle array 302K-A is used to perform printing in the forward direction, and when forming the shift pattern, the nozzle array 302K-A is used to perform printing in the backward direction. As a result, registration adjustment for bi-directional printing using the same nozzle array 302K-A can also be performed with high accuracy. The combination of nozzle rows is not limited to this, and may be combined as appropriate.

A registration adjustment value is determined based on the position shift amount a thus determined. The registration adjustment value is a value indicating the correction amount of the ink ejection timing, and the ink ejection timing of each nozzle row is controlled based on this registration adjustment value.

<Registration adjustment for bi-directional recording>
The bi-directional printing registration adjustment performed in this embodiment will be described below. That is, when focusing on a predetermined nozzle row (first nozzle row) among a plurality of nozzle rows, adjustment is made between the printing position in the forward direction and the printing position in the backward direction using the first nozzle row. An example is explained.

FIG. 8 is a diagram showing examples of scanning distance and recording scanning speed of the carriage 102 in borderless printing and bordered printing in this embodiment. The scanning distance of the carriage 102 from the home position or back position to the print start position is shorter in borderless printing than in bordered printing. Further, when printing is performed in the speed rise section, the carriage scanning speed changes, so the landing position of the ink droplet also changes. Therefore, it is preferable to record only in the constant speed section in which the recording scanning speed of the carriage is stabilized after the speed rise is completed before the print start position. Therefore, even if the recording scanning speed of the carriage 102 in the constant speed section is the same, the rising section of the speed is shorter in borderless printing than in bordered printing. As a result, in the case of borderless printing, it is necessary to increase control over the scanning speed of the carriage 102 more than in the case of bordered printing. That is, in the case of borderless printing, it is necessary to make the acceleration in the rising section faster than in the case of bordered printing. FIG. 8 shows such a relationship.

FIG. 9 is a diagram for explaining the attitude change of the carriage. FIG. 9A shows the case where the carriage 102 is not accelerating. FIG. 9B shows the posture of the carriage 102 in a constant speed section (that is, a section in which printing is performed) in the scanning speed start-up control a for forward printing. When the speed of the carriage 102 rises, the carriage 102 is pulled in the scanning direction by the drive belt 107 . That is, as shown in FIG. 9B, the posture of the carriage 102 changes and tilts so that it rotates about the guide shaft 113 as a fulcrum. Further, in the constant speed section where the speed rise is finished and the carriage 102 reaches the reached speed, the attitude of the carriage 102 that occurred in the speed rise section remains tilted without changing.

FIG. 9(d) shows the case where the carriage 102 is stopped by control for lowering the scanning speed for forward printing. When the speed of the carriage 102 drops, the carriage 102 is pulled by the driving belt 107 in the direction opposite to the scanning direction. Therefore, by controlling the lowering of the scanning speed of the carriage 102, the attitude fluctuation of the carriage 102 caused by the rising control of the scanning speed is eliminated, and the attitude of the carriage 102 when it is not accelerated in FIG. 9A is restored.

FIG. 9E shows the attitude of the carriage 102 in the constant speed section in the start-up control a of the scanning speed for backward printing. When the speed of the carriage 102 rises, the scanning direction is opposite to forward printing. Therefore, the posture of the carriage 102 is tilted in the direction opposite to forward printing by controlling the scanning speed of the carriage 102 to rise. Similarly, when the carriage 102 stops in backward printing, the posture returns to that in FIG. 9A when the carriage 102 is not accelerated.

FIG. 9(c) shows the posture of the carriage 102 in the constant speed section in the start-up control b of the scanning speed for forward printing. It is assumed that the scanning speed rising control b is larger than the scanning speed rising control a. That is, the scanning speed rise control b is a control in which the acceleration is larger than that of the scanning speed rise control a. As the scanning speed startup control of the carriage 102 increases, the attitude variation amount of the carriage 102 increases. That is, the posture variation amount (rotation amount) of the carriage 102 is larger in FIG. 9C than in FIG. 9B.

FIG. 9(f) shows the attitude of the carriage 102 in the constant speed section in the start-up control b of the scanning speed for backward printing. Similarly, as the scanning speed startup control of the carriage 102 increases, the attitude variation amount of the carriage 102 increases. Also in the cases of FIGS. 9(c) and 9(f), the posture is returned to that in the case where the carriage 102 shown in FIG. 9(a) is not accelerated by controlling the scanning speed of the carriage 102 to drop. In this way, in both the forward direction printing and the backward direction printing, the attitude of the carriage 102 in the constant speed section (that is, the section in which printing is performed) changes depending on the magnitude of scanning speed start-up control (magnitude of acceleration). .

10A and 10B are diagrams for explaining deviation of the landing position on the print medium P due to start-up control of the scanning speed of the carriage 102 in bidirectional printing with the same arrival speed (printing scanning speed). As shown in FIG. 10, when the carriage 102 performs registration adjustment under the scanning speed rising control a, the carriage 102 is accurately adjusted under the scanning speed rising control a. On the other hand, in the scanning speed rising control b, the carriage 102 tilts more in the constant speed section than in the scanning speed rising control a. In directional recording, the landing position is shifted. In other words, the optimum registration adjustment value for bi-directional printing changes according to the scanning speed start-up control.

In this embodiment, even if the arrival speed of the carriage in the recording scan is the same, both the first scanning speed start-up control and the second scanning speed start-up control of the carriage can be performed. An example of a registration adjustment method for directional printing will be described.

FIG. 11 is a flowchart showing processing for determining a registration adjustment value according to this embodiment. A series of processes shown in FIG. 11 are performed by the MPU 51 of the controller 60 developing program codes stored in the ROMs 52 and 57 in the RAM 54 and executing them. Alternatively, some or all of the functions of the steps in FIG. 11 may be realized by hardware such as ASIC 53 or electronic circuits. Note that the symbol "S" in the description of each process means a step in the flowchart.

First, in S1101, the controller 60 acquires the recording scanning speed X of the carriage 102 and the start-up control a of the first scanning speed. In S<b>1102 , the controller 60 uses the print head 103 to print a registration adjustment pattern to be used in registration adjustment processing for bi-directional printing under the printing scanning speed X and the start-up control a of the first scanning speed. That is, as described above, the first nozzle row is used to print the reference pattern in the forward direction, and to print the shifted pattern in the backward direction. In S1103, the controller 60 measures the optical reflectance of each registration adjustment pattern using the optical sensor 200 to determine a registration adjustment value. In S1104, the controller 60 stores in the storage area A of the RAM 54 registration adjustment values for bi-directional printing in the printing scanning speed X of the carriage 102 and the start-up control a of the first scanning speed. Although the first nozzle row has been described as an example here, if a plurality of nozzle rows need to be adjusted, an adjustment pattern is printed for each nozzle row, optical reflectance is measured, and registration adjustment is performed. value may be determined.

Next, in S1105, the controller 60 determines whether or not the recording scanning speed X of the carriage 102 and the start-up control b of the second scanning speed can be set. The start-up control b of the second scanning speed is a start-up control different from the above-described start-up control a of the first scanning speed. For example, the determination in S1105 may be made based on whether borderless printing or bordered printing can be set. In addition, it may be determined whether or not the printing apparatus 100 can set a start-up control different from the start-up control a of the first scanning speed for the printing scanning speed X by various settings. If the second scanning speed start-up control b cannot be set, registration adjustment ends.

On the other hand, if the second scan speed rise control b can be set, in S1106 the controller 60 acquires the recording scan speed X of the carriage 102 and the second scan speed rise control b. In step S1107, the controller 60 uses the print head 103 to print a registration adjustment pattern to be used during registration adjustment processing for bi-directional printing at the printing scanning speed X of the carriage 102 and by the start-up control b of the second scanning speed. . In S1108, the controller 60 measures the optical reflectance of each registration adjustment pattern using the optical sensor 200 to determine a registration adjustment value. In step S<b>1109 , the controller 60 stores in the storage area B of the RAM 54 the bi-directional printing registration adjustment value at the printing scanning speed X of the carriage 102 and the start-up control b of the second scanning speed. As described above, if there are a plurality of nozzle rows to be adjusted, registration adjustment values corresponding to the plurality of nozzle rows are stored.

FIG. 12 is a diagram showing an example of a storage area for registration adjustment values for bi-directional printing according to the present embodiment. As shown in FIG. 12, the start-up control a of the recording scanning speed X and the first scanning speed of the carriage 102 is applied to the storage area A, and the start-up control b of the recording scanning speed X and the second scanning speed is applied to the storage area. B stores registration adjustment values for respective bidirectional printing. The registration adjustment value is an adjustment value for the relative difference in the backward direction with respect to the reference forward direction. When printing is performed based on print data, the controller 60 sets the printing scanning speed and scanning speed start-up control according to the printing application of the printing. Then, the controller 60 acquires from the storage area shown in FIG. 12 the print scanning speed that has been set and the registration adjustment value corresponding to the scan speed start-up control. By adjusting the ejection timing based on the acquired registration adjustment value, the controller 60 can eject ink to an appropriate printing position during bi-directional printing. For example, when the reference pattern is printed in the forward direction, the ejection timing may be adjusted based on the registration adjustment value acquired in the backward direction printing.

In addition, the recording scanning speed and scanning speed startup control can be determined based on the print job settings. For example, in a print job, the printing purpose of borderless printing or bordered printing may be set. The controller 60 sets the recording scanning speed and scanning speed start-up control according to the printing application specified from the print job. Then, the controller 60 applies registration adjustment values for bi-directional printing stored in the storage area corresponding to the set printing scanning speed and scanning speed start-up control to each print job. Bi-directional recording can be performed with high accuracy.

It should be noted that, in the present embodiment, the example of printing with borders and printing without borders is used to explain that even when the recording scanning speed of the carriage is the same, the start-up control of the scanning speed of the carriage is changed. Not limited. For example, even if the recording scanning speed of the carriage is the same, the start-up control of the scanning speed of the carriage may be changed depending on the printing application such as an image-centered image or a text-centered image. Also, depending on the type of paper, such as glossy paper, coated paper, and plain paper, even if the recording scanning speed of the carriage is the same, the start-up control of the scanning speed of the carriage may be changed. Even in such a case, the present embodiment can be applied.

<<Second Embodiment>>
In the first embodiment, the arrival speed of the carriage in the recording scan is the same, and the start-up control of the first scanning speed and the start-up control of the second scanning speed of the carriage can be set. An example of the recording registration adjustment method has been described. In the second embodiment, a third scan in which the carriage reaches the same printing scan speed and is different from the first scan speed start-up control and the second scan speed start-up control of the carriage An example of speed start-up control will be described.

In the second embodiment, the arrival speed of the carriage in the recording scan is the same, and both the known first scanning speed start-up control and the known second scanning speed start-up control are performed. Assume that the registration adjustment value for orientation printing is already stored. Then, from these known registration adjustment values, an example of determining registration adjustment values for bi-directional printing for start-up control of an unknown third scanning speed will be described.

If the recording scanning speed (arrival speed) is the same, the carriage posture variation amount is determined by the magnitude of the scanning speed start-up control (magnitude of acceleration). Therefore, the amount of change in the attitude of the carriage is proportional to the magnitude of the scanning speed startup control (magnitude of acceleration). Utilizing this point, in the present embodiment, a registration adjustment value corresponding to the scanning speed startup control is obtained.

FIG. 13 is a diagram for explaining an example of obtaining a registration adjustment value for the third speed start-up control from the registration adjustment values corresponding to the known two-point scanning speed start-up control. Note that the arrival speed of the recording speed of the carriage is the same in both cases. As shown, the registration adjustment values corresponding to the two scanning speed startup controls (5 m/s ² and 15 m/s ² ) are the registration adjustment values stored in the respective storage areas. That is, it is a known registration adjustment value. Specifically, the registration adjustment values stored in the storage area are "5" for the registration adjustment value corresponding to the start-up control (5 m/s ² ) of the first scanning speed, and "5" for the second scanning speed. The registration adjustment value corresponding to the start-up control (15 m/s ² ) is "9". As for the registration adjustment value corresponding to the unknown third scanning speed start-up control (10 m/s ² ), the registration adjustment value "7" can be obtained by performing linear interpolation as shown in FIG. Thus, the registration adjustment value corresponding to the unknown scanning speed startup control is obtained by linear interpolation from the registration adjustment value corresponding to the known scanning speed startup control and the magnitude of the scanning speed in the startup control. be able to. This makes it possible to reduce the number of registration adjustment items in bi-directional printing, and shorten the registration adjustment time.

In this embodiment, an example of determining (calculating) registration adjustment values for bi-directional printing by linear interpolation has been described, but the present invention is not limited to this example. For example, interpolation may be performed using an approximate curve. Alternatively, a registration adjustment value corresponding to an unknown scan speed start-up control may be determined from the registration adjustment values corresponding to the three known scan speed start-up controls. Namely, the magnitude of each of the known carriage first scanning speed start-up control, second scanning speed start-up control, and third scanning speed start-up control, and each start-up control Acquire a bi-directional printing registration adjustment value corresponding to the control. Then, from these acquired values, a registration adjustment value for bi-directional printing corresponding to the unknown fourth scanning speed start-up control may be obtained from an approximation formula.

<<Third Embodiment>>
In the second embodiment, from the bidirectional printing registration adjustment values corresponding to the known two scanning speed startup controls, the bidirectional printing registration adjustment values corresponding to the unknown third scanning speed startup control are calculated. An example of determining is described. In the third embodiment, the registration adjustment value corresponding to the start-up control of the first scanning speed at the known first printing scanning speed (arrival speed) and the second scanning speed at the known first printing scanning speed A registration adjustment value corresponding to the scanning speed start-up control is used. In addition, a registration adjustment value for bi-directional printing corresponding to start-up control of the first scanning speed at the known second printing scanning speed is used. Then, from these values, an example will be described in which registration adjustment values for bi-directional printing of start-up control corresponding to the second scanning speed at the unknown second printing scanning speed are determined. In the following, an example will be described in which the registration adjustment value is obtained using the acceleration time after obtaining the difference in the registration adjustment value corresponding to the scanning speed startup control.

FIG. 14 shows registration adjustment values corresponding to two-point scanning speed rise control at the first printing scanning speed and registration adjustment values corresponding to one-point scanning speed startup control at the second printing scanning speed. and FIG. 11 is a diagram illustrating an example of obtaining a registration adjustment value based on . As shown, the known registration adjustment values stored in the storage area are as follows. The registration adjustment value corresponding to the start-up control (15 m/s ² ) of the first scanning speed at the first recording scanning speed (500 mm/s) is "9". The registration adjustment value corresponding to the start-up control (5 m/s ² ) of the second scanning speed at the first recording scanning speed (500 mm/s) is "5". The registration adjustment value corresponding to the second scanning speed start-up control (15 m/s ² ) at the second recording scanning speed (250 mm/s) is "5".

Here, registration adjustment between the start-up control of the first scanning speed (15 m/s ² ) and the start-up control of the second scanning speed (5 m/s ² ) at the first recording scanning speed (500 mm/s). The difference in values is "4".

Here, the difference in the registration adjustment values due to attitude fluctuations in the start-up control of two different scanning speeds changes according to the print scanning speed (arrival speed). This is because the time required to reach the arrival speed, ie, the acceleration time, differs according to the arrival speed, and as a result, the attitude fluctuation of the carriage changes. For example, the speed ratio of the second recording scanning speed (250 mm/s) to the first recording scanning speed (500 mm/s) in this example is 1/2. In this case, the acceleration time to reach the second print scanning speed (250 mm/s) is 0.5 times the acceleration time to reach the first print scanning speed (500 mm/s). In this case, the difference between the registration adjustment value due to the posture change in the first scanning speed start-up control at the second recording scanning speed and the registration adjustment value due to the posture change in the second scanning speed start-up control is It becomes 1/2 according to the speed ratio. That is, this difference is the difference between the registration adjustment value due to the posture change in the first scanning speed start-up control at the first recording scanning speed and the registration adjustment value due to the posture change in the second scanning speed start-up control. 1/2 of the difference. Specifically applying to the example of FIG. 14, from the registration adjustment value corresponding to the start-up control (15 m/s ² ) of the first scanning speed at the second recording scanning speed (250 mm/s), the second scanning The difference between the registration adjustment values corresponding to the speed start-up control (5 m/s ² ) is "2". Therefore, the unknown registration adjustment value corresponding to the start-up control (5 m/s ² ) of the first scanning speed at the second recording scanning speed (250 mm/s) can be obtained as "3". In this way, it is possible to obtain the difference in the registration adjustment value due to the attitude fluctuation in the scan speed startup control, and use the obtained difference to determine the registration adjustment value corresponding to the unknown scan speed startup control. .

As described above, in the present embodiment, the known start-up control of the first scanning speed in the first printing scanning speed, the start-up control of the second scanning speed, and the first scanning speed of the second printing scanning speed are known. Gets the magnitude of the ramp control for the scan speed of the . In addition, registration adjustment values for bi-directional printing corresponding to these are acquired. Then, from the obtained values, it is possible to determine the unknown bi-directional printing registration adjustment value corresponding to the start-up control of the second scanning speed of the second printing scanning speed. Thereby, an appropriate registration adjustment value can be set. In some cases, the printing apparatus 100 can set the printing scanning speed and the scanning speed start-up control for a plurality of carriages in order to support a wide variety of paper types. Even in such a case, according to the present embodiment, the number of registration adjustment items can be reduced, and the registration adjustment time can be shortened.

<<Fourth Embodiment>>
In the first, second, and third embodiments, examples of registration adjustment for bidirectional printing have been described, but in the fourth embodiment, an example of registration adjustment for unidirectional printing will be described.

15A and 15B are diagrams for explaining landing deviation due to a change in posture of the carriage. FIG. As described in the first embodiment, the attitude variation amount of the carriage 102 changes depending on the scanning speed start-up control a and b.

FIG. 16 is a diagram for explaining landing deviation in unidirectional printing. The print start position is the left end of the recording medium P for N scans, and the print start position is the center of the recording medium P for N+1 scans. For example, when print data corresponding to N scans indicates that there are pixels to be printed at least on the left end of the recording medium P, printing starts from the left end of the recording medium P in N scans. On the other hand, if the print data corresponding to the N+1 scan has no pixels to be printed on the left edge side of the recording medium P and has pixels to be printed on the center of the recording medium P or on the right side of the recording medium P, then the N+1 scan is: Printing is started from the center of the recording medium P.

In the N scan, the carriage 102 moves to the left end of the print medium P, so preliminary ejection can be performed outside the left end of the print medium P. On the other hand, in the N+1 scan, the print start position is the center of the recording medium P, and movement time occurs when the carriage 102 moves to the outside of the left end of the recording medium P for preliminary ejection. Therefore, in the N+1 scan, scanning is started from the center of the print medium P (scanning speed is controlled to rise), and the movement time is shortened until the preliminary ejection is performed outside the right end of the print medium P.

As described above, if printing is performed during acceleration, the ejection position will not be stable, so it is preferable to perform printing at a constant speed. For this reason, in order to shorten the acceleration distance, the control for increasing the scanning speed is set larger in N scans than in N+1 scans. Therefore, the N scan and the N+1 scan are unidirectionally printed with different scanning speed start-up controls. In other words, the landing positions of the scanning speed rising controls a and b are shifted. As a result, the impact position on the recording medium P is shifted due to the change in scan speed start-up control in unidirectional recording.

FIG. 17 is a flow chart showing processing for determining registration adjustment values according to the fourth embodiment. First, in S1701, the controller 60 determines whether or not the first scanning speed start-up control a and the second scanning speed start-up control b for the recording scanning speed X of the carriage 102 can be set. In this example, an example will be described in which it is determined whether or not start-up control for two scanning speeds can be set. If the first scanning speed start-up control a and the second scanning speed start-up control b cannot be set, the process ends.

On the other hand, if the first scan speed rise control a and the second scan speed rise control b can be set, in S1702 the controller 60 controls the recording scan speed X of the carriage 102 and the first scan speed. Scanning speed start-up control a is acquired. In S1703, the controller 60 prints the reference pattern using the recording scanning speed X of the carriage 102 and the start-up control a of the first scanning speed.

Next, in S1704, the controller 60 acquires the recording scanning speed X of the carriage 102 and the start-up control b of the second scanning speed. In S1705, the controller 60 prints a shift pattern using the recording scanning speed X of the carriage 102 and the start-up control b of the second scanning speed. In S1706, the controller 60 measures the optical reflectance of the registration adjustment pattern with the optical sensor 200 to determine a registration adjustment value. In S1707, the controller 60 stores the registration adjustment value for unidirectional printing from the first scan speed start-up control a to the second scan speed start-up control b of the print scan speed X of the carriage 102 in the storage area C of the RAM 54. store in

FIG. 18 is a diagram showing an example of a registration adjustment value storage area according to the fourth embodiment. A registration adjustment value for unidirectional printing from the first scan speed start-up control a to the second scan speed start-up control b at the print scan speed X of the carriage 102 is stored in the storage area C. FIG. The controller 60 adjusts the ink ejection timing during unidirectional printing using the stored registration adjustment value each time the speed rise control for the print scanning speed of the print scan changes from the speed rise control a to the speed rise control b. Apply a correction amount. Incidentally, when returning to the scanning speed start-up control a, since the return is to the reference, the ejection may be performed without using the registration adjustment value. As a result, it is possible to accurately adjust the printing positions of dots in unidirectional printing. In this embodiment, the registration adjustment value to be applied can be changed according to the printing scan.

As in the second embodiment, the known registration adjustment value corresponding to the start-up control of the first scanning speed of the carriage and the known registration adjustment value corresponding to the start-up control of the second scanning speed are A registration adjustment value for start-up control of the unknown third scanning speed may be determined. In the present embodiment, the first scanning speed start-up control is used as a reference, so the registration adjustment value corresponding to the third scanning speed start-up control with respect to the first scanning speed start-up control is obtained. become.

Further, similar to the third embodiment, the known first scanning speed start-up control of the first printing scanning speed of the carriage, the second scanning speed startup control, and the second printing scanning Acquire registration adjustment values respectively corresponding to the start-up control of the first scanning speed of the speed. Then, from these values, a registration adjustment value corresponding to start-up control at the unknown second recording scanning speed at the second scanning speed may be determined. Note that this embodiment is based on the control for raising the first scanning speed, so it corresponds to the control for raising the second scanning speed with respect to the control for raising the first scanning speed of the second recording scanning speed. Then, the registration adjustment value to be used is obtained.

<<other embodiments>>
In the above embodiment, the registration adjustment value is temporarily stored in the RAM 54 of the printing apparatus 100 and then stored in the ROM 52. However, it may be stored in a storage device outside the printing apparatus 100. . The printing apparatus 100 may refer to the registration adjustment value stored externally and perform the above-described processing.

The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in the computer of the system or apparatus reads and executes the program. It can also be realized by processing to It can also be implemented by a circuit (for example, ASIC) that implements one or more functions.

103 recording head 200 optical sensor 60 controller

Claims (18)

Inkjet printing that includes a printhead having a nozzle array in which nozzles for ejecting ink are arranged, and that performs bidirectional printing on a print medium by reciprocally scanning the printhead in a direction different from the direction in which the nozzles are arranged. A recording device,
A first speed rise control for controlling a rise to a first arrival speed, which is a print scanning speed for printing, and a second speed rise control for a speed higher than the first speed rise control. a setting means capable of setting one of the two speed startup controls;
A first correction value for correcting deviation of a landing position caused by the nozzle row, corresponding to the first speed startup control, and a landing position caused by the nozzle row, corresponding to the second speed startup control. Acquisition means for acquiring a correction value corresponding to the start-up control set by the setting means, out of the second correction value for correcting the deviation of the
correction means for correcting ink ejection timing based on the correction value acquired by the acquisition means;
An inkjet recording apparatus comprising: The first correction value is obtained by detecting a positional deviation from a first adjustment pattern formed at the first arrival speed reached by the first speed start-up control,
The second correction value is obtained by detecting a positional deviation from a second adjustment pattern formed at the first arrival speed reached by start-up control of the second speed. Item 1. The inkjet recording apparatus according to item 1. 3. The inkjet recording apparatus according to claim 1, wherein said setting means sets start-up control of said first speed or start-up control of said second speed according to a setting of a printing application. . 4. The ink jet recording apparatus according to claim 3, wherein the setting of the printing purpose includes setting of bordered or borderless printing. 4. The inkjet recording apparatus according to claim 3, wherein the setting of the printing purpose includes setting of an image-centered image or a text-centered image. 4. The inkjet recording apparatus according to claim 3, wherein the setting of the printing purpose includes setting of paper type. The setting means is configured to be able to further set start-up control of a third speed for controlling start-up to the first reaching speed,
Determination of determining a third correction value corresponding to a third speed start-up control for controlling a start-up to the first reaching speed based on the first correction value and the second correction value further equipped with means,
7. The acquiring means acquires the third correction value determined by the determining means when the setting means sets the start-up control of the third speed. The inkjet recording apparatus according to any one of . The determination means determines the third correction value by linearly interpolating the first correction value and the second correction value according to the speed in each start-up control. The inkjet recording apparatus according to claim 7. The inkjet recording apparatus is capable of recording at a second reaching speed, which is a second recording scanning speed different from the recording scanning speed,
The setting means can set either the first speed start-up control or the second speed start-up control as the start-up control up to the second reaching speed,
Based on the first correction value, the second correction value, and the fourth correction value corresponding to the first speed start-up control for controlling the start-up to the second reaching speed, the Further comprising determining means for determining a fifth correction value corresponding to the second speed start-up control for controlling the start-up to the second reaching speed,
The acquisition means acquires the fifth correction value determined by the determination means when the second speed start-up control is set by the setting means as the start-up to the second arrival speed. 7. The inkjet recording apparatus according to any one of claims 1 to 6, wherein: The determination means determines the fourth correction value and the fifth correction value from the difference between the first correction value and the second correction value and the speed ratio between the first arrival speed and the second arrival speed. 10. The inkjet recording apparatus according to claim 9, wherein the fifth correction value is determined by obtaining a difference from the correction value of . An inkjet printing apparatus having a printing head provided with a nozzle row in which nozzles for ejecting ink are arranged, and printing on a printing medium by scanning the printing head in a direction different from the direction in which the nozzles are arranged. There is
A first speed rise control for controlling a rise to a first arrival speed, which is a print scanning speed for printing, and a second speed rise control for a speed higher than the first speed rise control. a setting means capable of switchably setting one of the two speed start-up controls according to the scanning;
A sixth correction value for correcting deviation of landing positions due to the nozzle row between a printing scan based on the first speed startup control and a printing scan based on the second speed startup control. , an acquisition means for acquiring according to the start-up control set by the setting means;
correction means for correcting ink ejection timing based on the sixth correction value acquired by the acquisition means;
An inkjet recording apparatus comprising: The sixth correction value is a reference pattern formed by the first arrival speed reached by the first speed start-up control and the first arrival speed reached by the second speed start-up control. 12. The inkjet recording apparatus according to claim 11, wherein the positional deviation is obtained by detecting the positional deviation from an adjustment pattern obtained by superimposing a shifted pattern formed by shifting the ejection timing of the ink from the nozzle row by speed. . The setting means is configured to be able to further set start-up control of a third speed for controlling start-up to the first reaching speed,
Based on the sixth correction value and each speed of the start-up control, a seventh correction value corresponding to the start-up control of the third speed for controlling the start-up to the first reaching speed is determined. further comprising a determining means,
12. The acquiring means acquires the seventh correction value determined by the determining means when the setting means sets the start-up control of the third speed. 3. The inkjet recording apparatus according to . 14. An ink jet recording method according to claim 13, wherein said determining means determines said seventh correction value by linearly interpolating said sixth correction value according to each speed of said start-up control. Device. The inkjet recording apparatus is capable of recording at a second reaching speed, which is a second recording scanning speed different from the recording scanning speed,
The setting means selects either the first speed start-up control or the second speed start-up control as the start-up control up to the second arrival speed, which is the second recording scanning speed. can be set to
Based on the sixth correction value and the eighth correction value corresponding to the first speed start-up control for controlling the start-up to the second reach speed, Further comprising determining means for determining a ninth correction value corresponding to the second speed start-up control for controlling the start-up,
The acquiring means acquires the ninth correction value determined by the determining means when the second speed start-up control is set by the setting means as the start-up to the second reaching speed. 13. The ink jet recording apparatus according to claim 11 or 12, characterized in that: The determination means obtains a difference between the eighth correction value and the ninth correction value from the sixth correction value and a speed ratio between the first arrival speed and the second arrival speed. 16. The inkjet recording apparatus according to claim 15, wherein the ninth correction value is determined by: Inkjet printing that includes a printhead having a nozzle array in which nozzles for ejecting ink are arranged, and that performs bidirectional printing on a print medium by reciprocally scanning the printhead in a direction different from the direction in which the nozzles are arranged. A recording method using a recording device,
A first speed rise control for controlling a rise to a first arrival speed, which is a print scanning speed for printing, and a second speed rise control for a speed higher than the first speed rise control. a setting step capable of setting either one of 2 speed start-up controls;
A first correction value for correcting deviation of a landing position caused by the nozzle row, corresponding to the first speed startup control, and a landing position caused by the nozzle row, corresponding to the second speed startup control. an obtaining step of obtaining a correction value corresponding to the start-up control set in the setting step, out of the second correction value for correcting the deviation of the
a correction step of correcting the ink ejection timing based on the correction value obtained in the obtaining step;
A recording method comprising: An inkjet recording apparatus having a recording head provided with a nozzle row in which nozzles for ejecting ink are arranged, and performing recording on a recording medium by scanning the recording head in a direction different from the direction in which the nozzles are arranged. A recording method using
A first speed rise control for controlling a rise to a first arrival speed, which is a print scanning speed for printing, and a second speed rise control for a speed higher than the first speed rise control. a setting step in which either one of the two speed rise controls can be set switchably according to the scanning;
A sixth correction value for correcting deviation of landing positions due to the nozzle row between a printing scan based on the first speed startup control and a printing scan based on the second speed startup control. , an acquisition step of acquiring according to the startup control set by the setting step;
a correction step of correcting the ink ejection timing based on the sixth correction value obtained in the obtaining step;
A recording method comprising:

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