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Without any bonus from researches at all (no stacking and no productivity) and on basic ores (with mining time of 1), they output 2.5 ores per second, so 6 per side fill a yellow belt (or 12 for red belts).
On top of the mining productivity (which increases the production for all mining drills), they also gain the ability to ouput stacks on belts (which increases the throughput of the belts) from research, so the specific number of drills per belt can change drastically depending on your current technologies.