This　paper　investigates　the　meshing　errors　of　the　toroidal　drive,　reveals　three　typical　latency　errors　and　develops　the　error　analysis　in　this　typical　type　of　gear　drives.　Having　identified　the　latency　errors,　the　error　integrated　coordinate　transformation　is　implemented.　This　leads　to　the　development　of　the　error　impinged　meshing　model.　The　model　reveals　for　the　first　time　the　effect　of　the　latency　errors　in　gear　meshing　contact　of　a　toroidal　drive　and　characterizes　the　error　effect　on　meshing　contact.　The　effect　of　these　errors　on　the　gear　coordinate　frames　is　hence　presented　and　on　the　contact　paths　of　rollers　is　analyzed.　The　study　leads　to　a　new　method　for　compensating　the　three　latency　errors　by　introducing　a　bearing　with　a　changeable　oil　film.　The　method　is　then　verified　in　a　prototype　and　demonstrates　to　be　effective.　Copyright　©　2006　by　ASME.