One particular pinion drives the axis (the "grasp") although the next pinion is "preloaded" to remove the backlash (the "slave"). The preload is produced electronically with a Distinctive motor controller; these methods can be arrange to generate with each other for the duration of cycle situations when backlash isn't significant. https://gearboxcvt75297.blue-blogs.com/39827198/gearbox-cvt-secrets