The Robotis Dynamixel XL-320 is a robot smart actuator which has fully integrated DC Motor, Reduction Gearhead, Controller, Driver and Network in one small DC servo module. The XL-320 has high performance and precise control though the size is compact. It uses TTL communication and can be easily daisy chained for constructing robots. High reliability and accuracy for position control with PID control. Built-in clutch for reduction gear protection helps to improve durability and safety. It also has three color LED which can be programmed for display.