One pinion drives the axis (the "grasp") even though the 2nd pinion is "preloaded" to eliminate the backlash (the "slave"). The preload is established electronically having a Exclusive motor controller; these units can also be create to push with each other through cycle occasions when backlash is not really crucial. https://cristiantncqd.laowaiblog.com/31769123/getting-my-gearbox-cvt-to-work