I think you'll need an engineer. It's almost certainly the take up loading gear has damaged teeth.
The take-up loading gear is the small white gear visible at the centre of the upper mechanism, which bites against a metal sliding toothed rail. The teeth shear off (usually one or two)and can often be spotted stuck in the grease as very small white plastic specks. It's replaced via the bottom side. You'll need an engineer to supply and replace it.
If you want to confirm it yourself:
With power disconnected...
Assuming the tape is fully loaded,.. check if the take-up loading arm (the left side arm pulling the tape around cylinder) is fully against the end stop, compared to the supply loading arm on the right side. If the gear is faulty it will be a little slack or not reach the end stop on the left side. This is a 'very' common fault on the Z-mechanism fitted in that model. (Cheap part and a really simple repair, but still expect to be charged maybe £50, which is about half the price of a new Panasonic video), without the tape library btw, which is now a discontinued feature.
PS: with the lid off, light entering the machine can upset the end sensors and cause misoperation. Covering the mechanism from the light slightly will help.
Cobweb, July 2006