In color printing with a color registration system for the registration of plural color images on an image bearing surface, such as a photoreceptor belt (12) of a color printer, registration marks (32) are imaged on the image bearing surface, which registration marks correspond to the color images and are sensed by a registration marks sensor (22). The system first automatically images first registration marks (32), preferably "Z" targets, which provide wider initial mis-registration latitude for the sensor (22) for gross registration. When an initial registration is achieved, the system automatically switches to imaging second registration marks (36), preferably chevron targets, providing higher registration accuracy for the sensor (22). These registration targets may be generated along opposite sides of the image area on opposite sides of the photoreceptor (12) or other belt.