A printing apparatus includes a motor that drives an object to be driven; a detection unit that detects the speed of the object to be driven; and a control unit that controls driving of the motor based on a speed profile including an acceleration range, a constant-speed range, and a deceleration range, and determines that the speed of the object to be driven is abnormal when the difference between the detection speed of the detection unit and the speed of the speed profile exceeds a threshold value, wherein a first threshold value is set in the constant-speed range, and a second threshold value, which is higher than the first threshold value, is set in at least a portion of the acceleration range and the deceleration range.