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That printer looks too heavy to sit on a pull-out shelf
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Probably need to trim some off the width of the shelf but these shelf slides should hold the printer easily -
https://www.rockler.com/centerline-lifet...wer-slides
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Well that shelf didn’t grow in there so yeah, you’ll need to tilt it to get it out and back in.
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When I built my main workbench, I used drawer slides rated at 100 lbs. They've been great for six years now, knock on, well . . . . wood! Sides just tall enough to put slides on could be made to fit your current shelf like in Cary's post; it looks like there's enough clearance on either side of the printer. That's what I'd do.
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While bending down may be less convenient, I'd mount slides and some kind of full length pull-out shelf to the bottom of the cabinet (then move the shelf up and place the Synology and other items above it).
That way you have the sturdier cabinet base to work with, and the shelf only has to be as wide as the printer, giving you plenty of clearance to pull it out. I don't have a specific recommendation, but this is the type of thing used for heavy mixers or even garbage can sliders.