Does DHCP client keep reserved address?

I have an Epson printer. It works fine but today I needed to find its address to troubleshoot a printing problem-and discovered that it doesn't show up as an attached device on my router (a Belkin N+). I got the address by printing out the Network Settings page-but as far as I can see it's dynamic with no option to set a static address. If I reserve the address in the router for that MAC will the router always assign that address to that DHCP client? (Unless, of course, something screws up such that the address is marked as in use when the client attempts to re-connect. I'm not sure how that can happen but I had it happen when using DHCP on a Netware network so I don't want to say categorically that it can't.) Thanks.

I've tried reserving the address and yes, the DHCP device keeps grabbing it-but I can't be sure that it isn't coincidence, i.e. because that's the first address available (and the device qualifies for it). Usually I prefer to learn something as opposed to simply solving problems....in this case since nobody seems to know the answer maybe I'll need to settle for what I have. Thanks.