6. The apparatus of claim 5 , wherein the programmable rotary actuator is configured to drive the cylindrical, self-inking print roller.
6. The apparatus of claim 5 , wherein the programmable rotary actuator is configured to drive the cylindrical, self-inking print roller. 7. The apparatus of claim 6 further comprising: a control mechanism controlling the programmable rotary actuator to drive the cylindrical, self-inking print roller in one direction.