Tensioner Idlers / toothed / MXL, XL / flanged pulley selectable / single bearing, double bearing / aluminium (Part Numbers - CAD Download)

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Technical Information

Back to the Category Toothed Pulleys/Timing Pulleys/Idler Pulleys

Technical Drawing - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Flanged Idlers with Teeth - Center Bearing:Related Image

Open the technical drawing in the new window

Available dimensions and tolerances can be found under the tab More Information.

Basic Properties (e.g., material, hardness, coating, tolerance) - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Type		Material			Surface Treatment
Center Bearing	Both Sides Bearing	Main Body	Flange	Bearing
AATF	AATFW	Aluminum Alloy 2000 series	EN AW-5052 Equiv.	Steel	Clear Anodize
ANTF	-				Electroless Nickel Plating

Further specifications can be found under the tab More Information.

Composition of a Product Code - Toothed Pulleys/Timing Pulleys/Idler Pulleys

• Center Bearing

Part Number

Type	Number of Teeth	Applicable Belt
AATF	40	MXL037

• Both Sides Bearing

Part Number				-	d

Type	Number of Teeth	-	Applicable Belt
AATFW	22	-	MXL050	-	3

Alterations - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Here to the Overview of Options as PDF .

General Information - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Toothed pulley - synchronous pulley - belt pulley - product assortment

Selection details of toothed pulleys/timing pulleys/idler pulleys

- Material: aluminum, steel, stainless steel (stainless steel), plastic

- Coatings: uncoated, burnished, anodized, nickel-plated

- Profile form: 1.5GT, 2GT, 3GT, 5GT, P2M, P3M, P5M, P8M, S2M, S3M, S5M, S8M, S14M, T2.5, T5, T10, AT5, AT10, 5M, 8M, 14M, 8YU, H, L, MXL, XL, PowerGrip GT3: MR2, MR3, MR5

- ISO tolerances: H7

- Belt width (mm): 4, 4.8, 6, 6.4, 7, 7.9, 9, 9.5, 10, 12, 12.7, 15, 18, 19.1, 20, 25, 25.4, 26, 28, 30, 31, 38,1, 40, 50, 50.8, 53, 60, 74, 76.2, 100

- Belt width (inches): 0.19, 0.25, 0.31, 0.37, 0.5, 0.75, 1, 1.5, 2

- Number of teeth: 10 to 72

Description/Basics

The toothed pulley for mechanical engineering is intended for the transmission of force and torque. Timing pulleys enable a gear ratio of speeds through belt pulleys of different sizes. Timing pulleys are more efficient, durable and significantly more maintenance-friendly compared to chain transmissions.

How much torque and load a timing pulley can transmit depends on the width of the belt. The width of the belt must be calculated. It is recommended to ensure the belt is correctly tensioned. MISUMI already offers the suitable idler pulley and return rollers with integrated ball bearings. For design and design help follow this link.

Different profile shapes of the toothed belts and belt pulleys are responsible for the transmission of power. Depending on the positioning accuracy, the applied torque and the conveying weight, MISUMI offers the fitting pulley. Toothed belt drives are generally used in the industry in three areas:
Positioning: Timing pulleys is often used in 3D printers. A toothed pulley with a semi-circular profile (e.g., GT) is often used for the required position accuracy of a 3D printers. The round shape offers the benefit of little play when the direction changes.
Drive: toothed pulleys are also used for high torque. In most cases, a timing pulley with a rounded trapezoidal profile (e.g., S8M) is used. These are particularly well suited for the transmission of high forces, which occur in drives of various applications in order to drive mechanical components.
Conveying: toothed pulleys can also be used for transporting loads. A straight trapezoidal profile is often used for this purpose (e.g., AT). This toothed pulley shape offers a large surface for loading and transmitting of loads.

Which toothed pulley or timing pulley is the right one for your application depends on the respective task of the toothed belt drive. Different toothed disc profiles have proven themselves for each type of application.

Various bore hole shapes and fastening variants are available for shaft mounting. These allow fastening via set screws, keyways and by means of Mecha locks. Fastening via a clamping sleeve has the further advantage that it allows adjusting the alignment continuously. The MISUMI product assortment has these ready-to-install.

Application Examples - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Application example: idler pulley - idler pully toothed with chain tensioner - toothed pulley with chain tensioner

Application example: idler pulley
(1) Idler pulleys, (2) chain tensioner

Application example: return roller - return roller with cantilever pin - synchronous pulley with on-board disc - toothed pulley with on-board disc

Application example: deflection roller
S (1) Toothed pulleys with crimp disc, (2) nut, (3) washer, (4) cantilever shaft, (5) retaining ring

Application example: synchronous pulleys - toothed pulleys with toothed belts - toothed pulley with screw-on clamp

Application example: timing pulleys
(1) Flat head screw, (2) Timing pulley, (3) Timing belt, (4) Screw-on terminal

Application example: toothed belt drives - toothed pulleys with crimp disc - idler pulley with crimp disc - tensioning of the toothed belt

Application example: of toothed belt drives
(1) Toothed belt, (2) driven toothed pulley with crimp disc, (3) idler pulley with crimp disc, (4) driving toothed pulley with crimp disc

Industrial Applications

3D printer industry

Automotive industry

Pharmaceutical industry

Packaging industry

Part Number:

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Part Number
AATFW30-MXL019-4
AATFW30-XL037-10
AATFW30-XL050-12
AATFW36-MXL025-5
AATFW36-MXL037-5
AATFW36-MXL050-5
AATFW36-XL037-10
AATFW36-XL050-12
AATFW40-MXL025-5
AATFW40-MXL037-6
AATFW40-MXL050-6
AATFW50-MXL025-5
AATFW50-MXL037-8
AATFW50-MXL050-8
AATFW60-MXL025-5
AATFW60-MXL037-10
AATFW60-MXL050-10
ANTF18XL025
ANTF18XL031
ANTF18XL037
ANTF20XL025
ANTF20XL031
ANTF20XL037
ANTF22XL025
ANTF22XL031
ANTF22XL037
ANTF22XL050
ANTF25XL025
ANTF25XL031
ANTF25XL037
ANTF25XL050
ANTF28XL025
ANTF28XL031
ANTF30XL025
ANTF30XL031
ANTF30XL037
ANTF30XL050
ANTF36XL025
ANTF36XL031
ANTF36XL037
ANTF36XL050

Standard Unit Price	Minimum order quantity	Volume Discount	Standard Shipping Days ?	RoHS	Belt Type	Belt Width (mm)	Operating belt width (Inch)	[T] Number of Teeth	Material	Surface Treatment	[d] Diameter (Shaft Bore) (mm)
30.61 €	1	Available	6 Days	10	MXL	4.8	0.19	30	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	4
42.00 €	1	Available	10 Days	10	XL	9.5	0.37	30	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	10
43.15 €	1	Available	10 Days	10	XL	12.7	0.5	30	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	12
32.52 €	1	Available	6 Days	10	MXL	6.4	0.25	36	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
36.82 €	1	Available	6 Days	10	MXL	9.5	0.37	36	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
40.99 €	1	Available	6 Days	10	MXL	12.7	0.5	36	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
44.66 €	1	Available	10 Days	10	XL	9.5	0.37	36	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	10
45.93 €	1	Available	10 Days	10	XL	12.7	0.5	36	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	12
37.33 €	1	Available	6 Days	10	MXL	6.4	0.25	40	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
39.10 €	1	Available	6 Days	10	MXL	9.5	0.37	40	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	6
42.78 €	1	Available	6 Days	10	MXL	12.7	0.5	40	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	6
44.03 €	1	Available	6 Days	10	MXL	6.4	0.25	50	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
49.09 €	1	Available	6 Days	10	MXL	9.5	0.37	50	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	8
53.64 €	1	Available	6 Days	10	MXL	12.7	0.5	50	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	8
55.66 €	1	Available	6 Days	10	MXL	6.4	0.25	60	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	5
59.47 €	1	Available	6 Days	10	MXL	9.5	0.37	60	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	10
64.79 €	1	Available	6 Days	10	MXL	12.7	0.5	60	[Aluminum] 2000 Series Aluminum Alloy (Duralumin)	Clear Anodize	10
36.57 €	1	Available	13 Days	10	XL	6.4	0.25	18	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
36.57 €	1	Available	13 Days	10	XL	7.9	0.31	18	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
36.57 €	1	Available	13 Days	10	XL	9.5	0.37	18	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
39.10 €	1	Available	13 Days	10	XL	6.4	0.25	20	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
39.10 €	1	Available	13 Days	10	XL	7.9	0.31	20	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
39.10 €	1	Available	13 Days	10	XL	9.5	0.37	20	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
40.61 €	1	Available	13 Days	10	XL	6.4	0.25	22	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
40.61 €	1	Available	13 Days	10	XL	7.9	0.31	22	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
40.61 €	1	Available	13 Days	10	XL	9.5	0.37	22	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
40.61 €	1	Available	13 Days	10	XL	12.7	0.5	22	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
43.01 €	1	Available	13 Days	10	XL	6.4	0.25	25	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
43.39 €	1	Available	13 Days	10	XL	7.9	0.31	25	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
43.65 €	1	Available	13 Days	10	XL	9.5	0.37	25	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
47.06 €	1	Available	13 Days	10	XL	12.7	0.5	25	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
44.03 €	1	Available	13 Days	10	XL	6.4	0.25	28	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
44.28 €	1	Available	13 Days	10	XL	7.9	0.31	28	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
44.28 €	1	Available	13 Days	10	XL	6.4	0.25	30	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
44.92 €	1	Available	13 Days	10	XL	7.9	0.31	30	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
46.43 €	1	Available	13 Days	10	XL	9.5	0.37	30	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
60.73 €	1	Available	13 Days	10	XL	12.7	0.5	30	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
46.05 €	1	Available	13 Days	10	XL	6.4	0.25	36	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
47.58 €	1	Available	13 Days	10	XL	7.9	0.31	36	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
49.09 €	1	Available	13 Days	10	XL	9.5	0.37	36	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-
63.40 €	1	Available	13 Days	10	XL	12.7	0.5	36	[Aluminum] EN AW-2017 Equiv. (Duralumin)	Electroless Nickel Plating	-

Back to the Category Toothed Pulleys/Timing Pulleys/Idler Pulleys

Technical Drawing - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Open the technical drawing in the new window

Specification Tables - Toothed Pulleys/Timing Pulleys/Idler Pulleys

■MXL (Center Bearing)

Part Number			Shaft Dia. d	P.D.	O.D.	F	E	A	W	S	Bearing Dimensions			Unit Price
Type	Number of Teeth	Applicable Belt	Shaft Dia. d	P.D.	O.D.	F	E	A	W	S	No.	D	B	Unit Price
AATF	20	MXL019	3	12.94	12.43	18	11	6	10	3	693ZZx1	8	4
	22	MXL019	3	14.23	13.72	18	11	6	10	3	693ZZx1	8	4
	24	MXL019	3	15.52	15.02	20	13	6	10	3	693ZZx1	8	4
	30	MXL019	5	19.40	18.90	25	16	6	10	3	695ZZx1	13	4
	36	MXL019	5	23.29	22.78	28	18	6	10	3	695ZZx1	13	4
	40	MXL019	6	25.87	25.36	30	20	6	10	2.5	696ZZx1	15	5
		MXL025						7.5	11.5	3.25
		MXL037						11	15	5
	50	MXL019	8	32.34	31.84	35	25	6	10	2	698ZZx1	19	6
		MXL025						7.5	11.5	2.75
		MXL037						11	15	4.5
	60	MXL019	10	38.81	38.30	44	32	6	10	2	6900ZZx1	22	6
		MXL025						7.5	11.5	2.75
		MXL037						11	15	4.5

■MXL (Both Sides Bearing)

Part Number			Shaft Dia. d	P.D.	O.D.	F	E	A	W	Dh	Bearing Dimensions			Unit Price
Type	Number of Teeth	Applicable Belt									No.	D	B
AATFW	16	MXL019	3	10.35	9.84	14	8	6	10	5	673ZZx2	6	2.5
	20	MXL019	3	12.94	12.43	18	11	6	10	5	673ZZx2	6	2.5
	22	MXL025	3	14.23	13.72	18	11	7.5	11.5	5	673ZZx2	6	2.5
		MXL037						11	15
		MXL050						14	18
	24	MXL025	4	15.52	15.02	20	13	7.5	11.5	6	674ZZx2	7	2.5
		MXL037						11	15
		MXL050						14	18
	30	MXL019	4	19.40	18.90	25	16	6	10	6	674ZZx2	7	2.5
	36	MXL025	5	23.29	22.78	28	18	7.5	11.5	11	695ZZx2	13	4
		MXL037						11	15
		MXL050						14	18
	40	MXL025	5	25.87	25.36	30	20	7.5	11.5	11	695ZZx2	13	4
		MXL037	6					11	15	13	696ZZx2	15	5
		MXL050						14	18
	50	MXL025	5	32.34	31.84	35	25	7.5	11.5	11	695ZZx2	13	4
		MXL037	8					11	15	16.5	698ZZx2	19	6
		MXL050						14	18
	60	MXL025	5	38.81	38.30	44	32	7.5	11.5	11	695ZZx2	13	4
		MXL037	10					11	15	19.5	6900ZZx2	22	6
		MXL050						14	18

■XL (Center Bearing)

Part Number			Shaft Dia. d	P.D.	O.D.	F	E	A	W	S	Bearing Dimensions			Unit Price
Type	Number of Teeth	Applicable Belt	Shaft Dia. d	P.D.	O.D.	F	E	A	W	S	No.	D	B	AATF	ANTF
AATF ANTF	18	XL025	6	29.11	28.60	36	24	7.5	12.5	3.25	626ZZx1	19	6
		XL031						9	14	4
		XL037						11	16	5
	20	XL025	6	32.34	31.83	40	27	7.5	12.5	3.25	626ZZx1	19	6
		XL031						9	14	4
		XL037						11	16	5
	22	XL025	8	35.57	35.07	45	30	7.5	12.5	2.25	628ZZx1	24	8
		XL031						9	14	3
		XL037						11	16	4
		XL050						14	19	5.5
	25	XL025	10	40.43	39.92	48	35	7.5	12.5	2.25	6000ZZx1	26	8
		XL031						9	14	3
		XL037						11	16	4
		XL050						14	19	5.5
	28	XL025	10	45.28	44.77	55	40	7.5	12.5	2.25	6000ZZx1	26	8
	28	XL031	10	45.28	44.77	55	40	9	14	2.5	6200ZZx1	30	9
	30	XL025	10	48.51	48.00	55	40	7.5	12.5	2.25	6000ZZx1	26	8
		XL031	10					9	14	2.5	6200ZZx1	30	9
		XL037						11	16	3.5
		XL050						14	19	5
	36	XL025	12	58.21	57.70	67	50	7.5	12.5	2.25	6001ZZx1	28	8
		XL031	12					9	14	2	6201ZZx1	32	10
		XL037						11	16	3
		XL050						14	19	4.5

■XL (Both Sides Bearing)

Part Number			Shaft Dia. d	P.D.	O.D.	F	E	A	W	Dh	Bearing Dimensions			Unit Price
Type	Number of Teeth	Applicable Belt									No.	D	B
AATFW	16	XL025	5	25.87	25.36	32	20	7.5	12.5	11	695ZZx2	13	4
		XL031						9	14
		XL037						11	16
		XL050						14	19
	18	XL037	6	29.11	28.60	36	24	11	16	13	696ZZx2	15	5
		XL050						14	19
	20	XL037	8	32.34	31.83	40	27	11	16	16.5	698ZZx2	19	6
		XL050						14	19
	22	XL037	8	35.57	35.07	45	30	11	16	16.5	698ZZx2	19	6
		XL050						14	19
	25	XL037	10	40.43	39.92	48	35	11	16	19.5	6900ZZx2	22	6
		XL050						14	19
	28	XL037	10	45.28	44.77	55	40	11	16	19.5	6900ZZx2	22	6
		XL050	12					14	19	25	6001ZZx2	28	8
	30	XL037	10	48.51	48.00	55	40	11	16	19.5	6900ZZx2	22	6
		XL050	12					14	19	25	6001ZZx2	28	8
	36	XL037	10	58.21	57.70	67	50	11	16	19.5	6900ZZx2	22	6
		XL050	12					14	19	25	6001ZZx2	28	8

Alterations - Toothed Pulleys/Timing Pulleys/Idler Pulleys

Here to the Option Overview PDF

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Basic information

Type	Idlers with Teeth	Timing Pulleys/Idlers	Idlers

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The part number is completed.

Basic Attributes

Belt Type
MXL

XL
Clear
Belt Width(mm)
4.8

6.4

7.9

9.5

12.7
Clear
Operating belt width(Inch)
0.19

0.25

0.31

0.37

0.5
Clear
[T] Number of Teeth
16

18

20

22

24

25

28

30

36

40

50

60
Clear
Material
- Aluminum
  - EN AW-2017 Equiv. (Duralumin)
  - 2000 Series Aluminum Alloy (Duralumin)
Clear
Surface Treatment
- Clear Anodize
- Electroless Nickel Plating
Clear
[d] Diameter (Shaft Bore)(mm)
3

4

5

6

8

10

12
Clear
Type
- AATFW□□-MXL
- AATFW□□-XL
- AATF□□MXL
- AATF□□XL
- ANTF□□XL
Clear
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Optional Attributes

The specifications and dimensions of some parts may not be fully covered. For exact details, refer to manufacturer catalogs .

Frequently Asked Questions (FAQ)

Question:
Do you have any belt pulleys without a hole?: Answer:
The MISUMI toothed pulleys always have a pilot bore. It is expanded depending on your configuration. It provides the advantage that the belt pulleys are already provided with a suitable shaft bore ready for installation. Therefore, it does not require time-consuming post-processing.
Question:
Do you have timing pulleys made of aluminum?: Answer:
The MISUMI online shop also offers timing pulleys or toothed pulleys in aluminum. Furthermore, we are also offering belt pulleys in steel and stainless steel. The return rollers and idler pulleys for the timing belts are also available in plastic.
Question:
Is a transmission with toothed belt pulleys possible?: Answer:
With toothed pulleys, a gear ratio is possible in a drive. The gear ratio is established based on the number of teeth on the belt pulleys. It should be ensured that the minimum number of teeth of the timing pulley disc is not undercut.
Question:
Which type of the toothed belt pulley can be clamped during assembly?: Answer:
There are a number of ways to install timing pulleys on a shaft. For applications that are not exposed to high torque, such as conveyors, it can be sufficient to fasten a timing pulley using clamping threaded pins. For this purpose, the shaft should have a flat surface.
For higher loads, a toothed pulley with a keyway can also be used.
A further variant is the fastening of a timing pulley via a conical chip sleeve. Depending on the type of Mecha lock, the timing pulley requires lateral internal threads, which can be added through additional options in the MISUMI online shop.
A timing pulley with a bore hole can also be combined with a Mech lock. MISUMI is offering this combination as a set.
Question:
Where do you position the tension roller?: Answer:
If an idler pulley should be utilised, it should be positioned on the sag side. This means that the idler pulley is attached to the side not subjected to pull.
Ideally, a toothed idler pulley is mounted on the inside of the toothed belt. The tensioning roller should always be larger than the smallest toothed idler pulley of the belt drive system.
If an idler pulley must tension the toothed belt from the outside, then a non-toothed (flat) idler pulley should be used. Cantilever pins, which MISUMI offers in various geometric versions, are suitable for fastening.
Question:
Which parallel key can be used for the toothed pulleys?: Answer:
The parallel key size is based on the shaft diameter. In this case, it is recommended using the MISUMI parallel keys, as they fit better when MISUMI toothed pulleys are used. See Overview available as PDF for keyway tolerances.
Question:
Is a timing pulley with a round profile better?: Answer:
Timing pulleys and round-profile timing belts are not recommended for every application. For example, the round profile shape is well suited for applications that require high positioning accuracy. Therefore, they are often used in 3D printers and scanners. Compared to other profile shapes, the round profile shape has a higher wear resistance. Another advantage of the round profile shape is the minimized play in the return (reverse play).
Question:
Which belt pulley is suitable for Gates toothed belts?: Answer:
The GT and EV timing pulleys are suitable for Gates’ toothed belts. However, these require you put attention to the slope (distance of the teeth) of the toothed belt. It must be checked whether these correspond to the selected toothed pulley.
Question:
Are the curtain discs necessary for the toothed pulleys?: Answer:
It is recommended using the smaller belt pulleys particularly with curb disc. The curb disk ensures that the toothed belt does not migrate down from the toothed belt pulley. Even with the smallest misalignment of a pulley, there may be a risk that the toothed belt will move and jump during operation.
Question:
How is the gearing of the toothed pulleys manufactured?: Answer:
The gear teeth of the MISUMI toothed belt pulley are mainly pushed. This ensures high manufacturing accuracy. As a result, the teeth fit precisely into the toothed belt profile of the timing belts and ensure optimal power and torque transmission.