| CPC B41J 2/04573 (2013.01) [B41J 2/04581 (2013.01); B25J 9/126 (2013.01); B41J 3/4073 (2013.01)] | 14 Claims |
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1. A printing device comprising:
a head that ejects liquid to a work;
a robot that changes relative positions of the work and the head;
a positional information output unit that outputs positional information regarding a position of the robot; and
a timing adjuster that adjusts, based on the positional information, an ejection timing of ejecting the liquid from the head, wherein
when a timing of acquiring first positional information as the positional information by the timing adjuster is a first acquisition timing,
a timing of acquiring second positional information as the positional information by the timing adjuster after the first acquisition timing is a second acquisition timing, and
the ejection timing after the second acquisition timing is a first ejection timing,
the timing adjuster adjusts the first ejection timing based on the first positional information and the second positional information, and
wherein a time interval between the first acquisition timing and the second acquisition timing is equal to a control cycle of the positional information output unit.
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