Embodiments described herein include a multi-color printing system in which color-to-color registration errors due to cyclical belt motion errors are minimized. A belt for transporting a substrate media or at least a partial image into a plurality of panels is segmented. A first one of the panels has a first location on the belt for receiving substrate media or a partial image. A first belt motion error value corresponding to the first one of the panels on the belt is identified and at least one image marking unit is calibrated to counteract the first belt motion error corresponding to the first one of the panels.