Slip-less drive image reproduction

An image reproduction system such as a printer or copier has one or more intermediate transfer members such as belt 14 for transferring an image from a belt 10 to the receptor material which comprises belt 12. Pairs of guide rollers 32,34 and 36,38 carrying the respective belts are brought into engagement at nip zones X2, X3 to facilitate image transfer. The individual motors M1,M2 and M3 driving the respective belts 10,14 and 12 are torque and speed controlled such that the additional load created by the contact of the belts at the nip zones X2, X3 is balanced between the motors to thereby obtain slip-less drive and control image distortion. The pairs of rollers 32,34 and 36,38 can be decoupled from one another.