Cheers Guys, I got the picture now. Bojan the
P43HG dec motor in my em-200 has plastic gears in it's gearbox and they always end up with lots of backlash.
I got the model of this new motor from
this Japanese site and it seems to have solved his problems although it is a little hard to read
You may need to hit translate again to get the bottom half of the page readable.
It's actually cheaper than one from tak.