diff --git a/pypot/dynamixel/conversion.py b/pypot/dynamixel/conversion.py
index c96f102c..55537945 100644
--- a/pypot/dynamixel/conversion.py
+++ b/pypot/dynamixel/conversion.py
@@ -99,6 +99,7 @@ def pid_to_dxl(value, model):
     28: 'RX-28',    # 28 + (0<<8)
     29: 'MX-28',    # 29 + (0<<8)
     64: 'RX-64',    # 64 + (0<<8)
+    360: 'MX-12',   # 104 + (1<<8)
     310: 'MX-64',   # 54 + (1<<8)
     320: 'MX-106',  # 64 + (1<<8)
 }
diff --git a/pypot/dynamixel/io.py b/pypot/dynamixel/io.py
index 6ed52a6f..88dd7107 100644
--- a/pypot/dynamixel/io.py
+++ b/pypot/dynamixel/io.py
@@ -694,7 +694,7 @@ def _add_control(name,
 
 _add_control('pid gain',
              address=0x1A, length=1, nb_elem=3,
-             models=('MX-28', 'MX-64', 'MX-106'),
+             models=('MX-12', 'MX-28', 'MX-64', 'MX-106'),
              dxl_to_si=dxl_to_pid,
              si_to_dxl=pid_to_dxl)