An imaging system includes a plurality of imaging engines each comprising a photoreceptor belt having a belt seam. A sensor determines a relative position of a first photoreceptor belt of a first one of the imaging engines relative to a second photoreceptor belt seam of a second one of the imaging engines. A controller controls a motor speed of one or more motors driving the photoreceptor belts, wherein an output of the sensor comprises a basis for adjustment of the motor by the controller for relative synchronizing of the first and second belts to avoid skipping pitches in one of the imaging engines due to relative belt seam positions.