The invention relates to a precise, coaxial rotation angle-limited steep wire rope transmission mechanism and belongs to the field of precision transmission. The invention aims to realize coaxial fixed-transmission ratio transmission. The precise, coaxial rotation angle-limited steep wire rope transmission mechanism of the invention comprises a transition wheel, a transition wheel bearing, a coaxial wheel outer bearing, a coaxial wheel inner bearing, a small wheel, a bracket, a large wheel and a steel wire rope; the large wheel is of a hollow stepped shaft structure; two ends of the stepped shaft are bearing mounting surfaces; the middle section of the stepped shaft is a steel wire rope winding surface; an opening is formed in the cylindrical wall surface of the middle section of the largewheel; the small wheel is of a cylindrical stepped shaft structure; the cylindrical wall surfaces of two ends of the small wheel are bearing mounting surfaces; the middle section of the small wheel is a steel wire rope winding surface; the small wheel is matched with the coaxial wheel inner bearing through the bearing mounting surfaces and is coaxially installed at the inner side of the large wheel; the transition wheel is fixed on the bracket through the transition wheel bearing; and the central axis of the transition wheel is parallel to the central axis of the small wheel. The precise, coaxial rotation angle-limited steep wire rope transmission mechanism of the invention has the advantages of high transmission precision, low noise, stable transmission, no need for lubrication and easiness in installation and maintenance, and is suitable for optical machine systems and other precision transmission fields such as the rotation angle-limited precision transmission field and the fixed-transmission ratio transmission field.