There are two interesting videos about how the 948TE / ZF 9HP transaxles works. Videos were made by Weber State University (WSU) - Automotive Technology Department - Transmission Lab.
It is split in two parts, the first shows the two dog clutches and how are activated, the second part shows all its main components and shows how it works.
Dog Clutch Demo - ZF 9HP 9-Speed Transaxle Operation - Part 1 of 2
Power Flow - ZF 9HP 9-Speed Transaxle Operation - Part 2 of 2
It is split in two parts, the first shows the two dog clutches and how are activated, the second part shows all its main components and shows how it works.
Dog Clutch Demo - ZF 9HP 9-Speed Transaxle Operation - Part 1 of 2
Power Flow - ZF 9HP 9-Speed Transaxle Operation - Part 2 of 2