#Do idler pulleys with 5mm bore and 16 teeth exist?
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Yes, idler pulleys with a 5mm bore and 13mm external diameter do exist. They are commonly used in CoreXY 3D printers. It may require a bit of searching and sourcing from different suppliers, but they should be available. You can try looking for them on online marketplaces or specialized 3D printing stores.
Because I am building a CoreXY printer and I want to put the idler pulley for the motors on the gantry plates, but there's no space to put a 18mm diameter one
I only find timing pulleys with these parameters, not idler
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If your belt will be riding on the idler pulley with the teethed part, you want the teethed idler
Ok