I'm taking apart my Nakamura Tome TMC-3 to retrofit and pretty much look over every component of the machine. I took off the Z servo and found this:
nakamura - z servo - Album on Imgur
I see straight cut gear teeth. I'm confused on how they're eliminating/minizming backlash. I was thinking there would be some sort of harmonic drive, but to my surprise it's just gears. Any ideas?