Systems and methods for printing raised markings on documents

Systems for forming three-dimensional marking material images on moving substrates include a print head arranged about a media path by which the substrate passes the print head at a predetermined media velocity. The jets marking material at a predetermined velocity onto the substrate surface to form a three-dimensional marking material image. A firing time of forming a first layer of marking material may be different with respect to a print run start time than a firing time for ejecting marking material for forming successive layers. The firing time may be adjusted by advancing or delaying the firing time with respect to an initial firing time for forming the first layer. The advance or delay may be calculated by a processor, and the calculation may be fed to a time advance/delay buffer contained by the print head.