| Access | Spirit | |
|---|---|---|
| Toothing | Straight | Straight |
| Acceleration | +++ | ++ |
| Fast reversals | +++ | + |
| Radial load ratings | +++ | ++ |
| Axial load ratings | + | + |
| Stiffness | +++ | ++ |
| Torque density | ++ | ++ |
| Sizes | 50 to 120 | 64 to 120 |
| Rated Torque | 9Nm to 85Nm | 9Nm to 85Nm |
| Angular backlash | 1 stage: < 5 arc-min 2 stages: < 8 arc-min | 1 stage: < 5 arc-min 2 stages < 8 arc-min |
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