Roll having relieved edges for low stress belt tracking for belt loops

An electrophotographic printing machine of a type having an endless photoreceptor belt supported by a plurality of rolls and arranged to move in a predetermined path through a plurality of processing stations disposed therealong, including:

• a plurality of rolls for supporting and driving said belt, including a belt steering roll for supporting the belt, each of said plurality of rolls being adapted for driven rotational movement about a first axis and said belt steering roll being adapted for driven rotational movement about a first axis and tilting movement about a second axis transverse to the first axis, each of said plurality of rolls comprising a cylindrical member supported for rotational movement about its longitudinal axis wherein each end of said cylindrical member comprises a relieved portion to provide a nonsharp contact point with the belt, wherein at least one of said plurality of rolls further comprises a compliant fill material added to the relieved portion of said cylindrical member to provide said cylindrical member with a substantially constant diameter along its length to support the belt;
• means for sensing movement of the belt in a direction substantially normal to the predetermined path and generating a signal indicative thereof;
• and
• means, responsive to the signal generated by said sensing and generating means, for tilting said steering roll about the second axis, to return the belt to the predetermined path.