** In order to use FR12-H101K Frame Set with the XL430, HN11-I101 Idler Set is required. **
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These are great improvements to the AX servo line. Full range motion with higher resolution and better heat management. They are also much more durable than AX twelves having survived some rather rugged use-cases that I put them through which had broken a few AX-18s
For only $5 more than the AX-12A, ones can get a PID controlled servo + 360 degrees position control capability (along with other advanced control options). This is quite an excellent deal. I am hoping that ROBOTIS will soon offer a new robot kit based on this XL-430 actuator.