# Step 2: Attach the Shoulder Base and Route the Cable

> Fasten part 400_02A to actuator ID 13, connect the cable's XT30 (2+2) connector to the actuator port, and route the cable through the actuator shaft.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/left-arm-module/shoulder-joint-assembly/step-2
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Left Arm Module › Shoulder Joint Assembly
- Previous: [Step 1: Mount the Shoulder Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-arm-module/shoulder-joint-assembly/step-1.md)
- Next: [Step 3: Prepare the Bearing Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-arm-module/upper-arm-assembly/step-3.md)

> [!IMPORTANT]
> **Assign actuator IDs before assembly**
>
> Assign and verify all 25 actuator IDs before assembling the robot. The robot will not work correctly with missing or incorrect IDs. IDs must be assigned one actuator at a time on the bench; you may need to disassemble the robot if you skip this step. See [Assign Actuator IDs](https://docs.menlo.ai/asimov/1/build/assembly-preparations/assign-actuator-ids.md).

## Parts needed

| Part | Count |
| - | -: |
| Shoulder actuator assembly containing EC-A5013-H17-100 actuator (part `400_17X`) (ID 13) from Step 1 | 1 |
| `400_02A` | 1 |
| M5x25 Socket bolt | 6 |
| 180 mm single-ended XT30 (2+2) cable | 1 |
| Threadlocker | As needed |

## Instructions

1. Take part `400_02A` and align it with the EC-A5013-H17-100 actuator (ID 13), with the round center facing upward, and the four corner leg facing towrad the actuator shaft. Make sure that the 6 holes on part `400_02A` align with the threaded holes on the actuator shaft.

2. Take **6 of** M5x25 Socket bolts and lightly tighten into the 6 holes that you see on part `400_02A` to align the part with the actuator.

3. After the parts are aligned:

   > [!NOTE]
   >
   > **Not ready to apply threadlocker?**
   >
   > You can assemble without threadlocker while you check the fit, alignment, and orientation. When you are confident, disassemble as needed, apply threadlocker to the bolts, and reassemble them following these instructions.

   - remove **6 of** M5x25 Socket bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `400_02A` and the actuator together.

4. Connect the XT30 (2+2) connector of the 180 mm single-ended XT30 (2+2) cable to the actuator port nearest the center, then route the cable leads through the hollow shaft.