Frame Sizes
Servo Motor：Servo motors are availible in a wide variety of frame sizes, from small to large motors capable of running huge machines. Many of the motors come in NEMA standard sized.
Stepper Motor：Stepper motors do not have as many size selections as servo motors in the large sizes. However stepper motors may still be found in a variety of NEMA frame sizes.
Setup Complexity
Servo Motor：Servo motors require tuning of the (PID) closed loop variable circuit to obtain correct motor function.
Stepper Motor：Stepper motors are almost plug-and-play. They require only the motor wires to be wired to the stepper motor driver.
Motor Life
Servo Motor：The brushes on servo motors must be replaced every 2000 hours of operation. Also encoders may need replacing.
Stepper Motor：The bearing on stepper motors are the only wearing parts. That gives stepper motors a slight edge on life.