# Assign Actuator IDs

> Program each of the 25 actuators with its sticker number, one at a time on the bench, before the robot is assembled.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-preparations/assign-actuator-ids
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Preparation

Each actuator needs its joint ID before it goes into the robot. You program the number on its sticker, one actuator at a time. Allow about an hour and a half.

> [!WARNING]
>
> **One actuator at a time, before assembly only**
>
> Programming writes to whatever is on the setup connector. With more than one actuator connected, it can permanently reprogram the wrong one. Never program with more than one actuator connected.

## Before You Start

- You are signed in to Asimov Manager, and both RPU checks are green — see [Check the RPU Link](https://docs.menlo.ai/asimov/1/build/assembly-preparations/software-setup/connect-and-sign-in.md#check-the-rpu-link).
- All 25 actuators are within reach, each with its numbered masking tape.
- You have an XT30 (2+2) cable to connect each actuator to the **setup connector**, the left-leg actuator port on the RPU.

## Enable Programming

1. Open **Actuators** in the sidebar. It opens on the **Actuator ID** tab.
2. Read the warning, then select **Enable Programming**.

![The Actuator ID tab with the programming warning, and an arrow pointing to Enable Programming](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/manager-enable-programming.webp)

Programming stays enabled until you leave or reload the page.

If the tools are locked, a pill at the top of the page names the reason:

| Pill | Fix |
| - | - |
| **Stop the firmware to change actuators** | Select **Open Firmware ›** and stop the firmware |
| **RPU unreachable** or **RPU not controllable** | See [Check the RPU Link](https://docs.menlo.ai/asimov/1/build/assembly-preparations/software-setup/connect-and-sign-in.md#check-the-rpu-link) |
| **Robot state unknown** | Select **Retry** |

## Program Each Actuator

Repeat for all 25 actuators:

1. **Connect one actuator** to the setup connector.

   ![A single actuator labelled 1 on masking tape, connected by its cable to the RPU on the bench, with the other actuators unconnected beside it](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/actuator-connected-to-rpu.webp)

2. Select **Detect Actuator** to confirm it's connected. **Current ID** shows the ID it holds now. New actuators have ID 1 by default.

   ![Current ID showing 01 with a green check after selecting Detect Actuator, with an arrow pointing to the Detect Actuator button](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/manager-detect-actuator.webp)

3. Type its sticker number, from 1 to 25, in **New ID**. In this example the tape reads 1, so enter 1.

   ![New ID set to 1, with an arrow pointing to the New ID field](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/manager-enter-new-id.webp)

4. Select **Program & Verify**. Check the ID and joint in the confirmation against the sticker, then select **Program Actuator**.

   > [!NOTE]
   >
   > **Leave Don't ask again unticked at first**
   >
   > **Don't ask again this session** skips this confirmation. Leave it unticked until you have the rhythm, because a wrong ID affects assembly and operation later.

   ![The confirmation dialog "Program this actuator as 01?" showing 01 · L_Hip_Pitch, with arrows pointing to Don't ask again this session and Program Actuator](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/manager-program-confirm.webp)

5. Wait for "Actuator is now N · _joint_". Unplug the actuator and set it aside, in sticker order.

   ![The success message "Actuator is now 1 · L_Hip_Pitch. Unplug it and connect the next actuator." below Program & Verify](https://docs.menlo.ai/manual/v1/images/assign-actuator-ids/manager-program-complete.webp)

> [!NOTE]
>
> **Tips**
>
> - The map marks the lowest unprogrammed ID as **next up**, but any order works.
> - **Don't ask again this session** skips the confirmation. Leave it unticked until you have the rhythm.
> - Reloading the page clears the map, not the IDs. To recheck an actuator, connect it on its own and select **Detect Actuator**.

## If Something Goes Wrong

| Message | Fix |
| - | - |
| "No actuator detected. Check power and wiring." | Check that one actuator is connected, powered and firmly cabled. Wait a few seconds, then retry |
| "Couldn’t set the ID. Check that exactly one actuator is connected and powered." | Disconnect every other actuator, then retry |
| "Enter a sticker ID from 1 to 25" | Enter a number from 1 to 25 in **New ID** |
| The tools are greyed out | Read the pill at the top of the page — see [Enable Programming](https://docs.menlo.ai/asimov/1/build/assembly-preparations/assign-actuator-ids.md#enable-programming) |
| A sticker is missing, unreadable or duplicated | Stop, and sort out the labels before assembly |

## Next

> [!NOTE]
>
> **Confirm actuator ID assignment**
>
> On the website, readers tick this confirmation before the assembly steps unlock: "I have assigned and verified the correct ID for each of the 25 actuators, one at a time, matching its numbered label." It is the reader's own confirmation, saved in their browser, not an automatic check of the robot.

When all 25 are programmed, continue to [Electronics Disassembly](https://docs.menlo.ai/asimov/1/build/assembly-preparations/electronics-disassembly.md). During assembly, fit each actuator into the joint that matches its sticker. Afterwards, [Calibrate Actuators](https://docs.menlo.ai/asimov/1/operate/setup/calibrate-actuators.md) checks all 25 and records their zero positions.

**Previous:** [Enable the Battery BMS Switch](https://docs.menlo.ai/asimov/1/build/assembly-preparations/software-setup/enable-bms-switch.md) · **Next:** [Electronics Disassembly](https://docs.menlo.ai/asimov/1/build/assembly-preparations/electronics-disassembly.md)