Printing apparatus and method for measuring and compensating for synchronization error

A printing method for measuring and compensating for a synchronization error using a printing apparatus configured to include a rotating part including a roll and a motor, a support part having a substrate disposed on an upper portion thereof to support the substrate, a printing pressure part changing an interval between the rotating part and the support part, and a compensation unit including a sensor unit which is disposed on a lower portion of the substrate to measure a force in at least one direction applied in a tangential direction of the roll among forces which are applied between the roll and the substrate at a contact position between the roll and the substrate and a control unit which controls at least one selected from a rotating velocity (ω) of the motor and a relative movement velocity (V) between the rotating part and the support part to compensate for the synchronization error using a value of the force measured by the sensor unit, the printing method comprising:

• performing a feedback control on at least one selected from the rotating velocity (ω) of the motor and the relative movement velocity (V) between the rotating part and the support part so that the force applied in the tangential direction of the roll becomes 0.