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Summary
Mendel pulleys that use an M3 grub screw and a captive nut. The advantage over the original is that you only need one small flat on the motor shaft, rather than two full length ones that have to be filed to exactly the right size.
Can be used for all three axes.
Instructions
Ream the holes out to 5mm and 3.5mm, fit the nut and grub screw. File a small flat on the motor shaft where the screw will engage.
I find it best to print three at the same time because it stops the small section getting too hot. If you have a machine that oozes then it may be best to print one at time to avoid strings.