Printing apparatus and method of controlling driving of printing apparatus

A method of controlling driving of a printing apparatus including:

• a printing head configured to perform printing on a label sheet obtained by attaching a label to a base sheet;
• a peeling unit configured to peel the label from the base sheet;
• a first roller disposed upstream of the peeling unit in a transport path of the label sheet;
• a second roller disposed downstream of the peeling unit in a transport path of the base sheet;
• a first driving unit configured to drive the first roller;
• a second driving unit configured to drive the second roller;
• and
• a control unit configured to control the first driving unit and the second driving unit,
• the method including:
• a first step including adjusting, by the control unit, a voltage applied to the first driving unit on a basis of information about a transport velocity and a transport acceleration of the label sheet, such that a load torque of the first driving unit is a predetermined value;
• and
• a second step including performing, by the control unit, feedback control of a voltage applied to the second driving unit on a basis of information about a transport velocity of the base sheet, such that the transport velocity of the base sheet is a predetermined velocity.