# Step 7: Attach the Actuator Hub

> Route the actuator cable through part 600_01B and fasten the part to actuator ID 3.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-7
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Left Leg Module › Thigh Assembly
- Previous: [Step 6: Install the Outer Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/thigh-assembly/step-6.md)
- Next: [Step 8: Assemble the Knee Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-8.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 |
| - | -: |
| Current assembly from Step 6 | 1 |
| `600_01B` | 1 |
| M4x25 Socket bolt | 5 |
| Threadlocker | As needed |
| Super glue | As needed |

## Instructions

1. Take the current assembly and turn it such that the EC-A3814-H14-107 actuator (part `600_02X`) (ID 3) is facing toward you.

2. Take part `600_01B` and locate the inner part that is not hollow. Put **5 of** M4x25 Socket bolts into the 5 holes on part `600_01B`.

3. Route the cable from the hollow shaft through the center hole in part `600_01B`, then through the L-shaped cable channel until it exits the other side. Check the pictures below to show how the routing is done on real pieces.

   ![Cable conductors routed from the actuator shaft along the recessed L-shaped channel in the actuator hub](https://docs.menlo.ai/manual/v1/images/leg-module/routing-0.webp)

   ![Cable conductors emerging through the rectangular exit opening on the other side of the actuator hub](https://docs.menlo.ai/manual/v1/images/leg-module/routing-1.webp)

   ![The L-shaped cable channel on the actuator hub, showing where the cable must sit flush](https://docs.menlo.ai/manual/v1/images/leg-module/cable-channel-glue-location.webp)

4. Align all the M4x25 Socket bolts with the threaded holes on the actuator and then lightly tighten the bolts into the actuator to align part `600_01B` with the actuator.

5. 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 **5 of** M4x25 Socket bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `600_01B` and the actuator together.

6. You can choose between this two option:

   1. Take the given tape and apply it across the wire.

      ![Tape placed across the cable conductors to hold them in the recessed channel of the actuator hub](https://docs.menlo.ai/manual/v1/images/leg-module/routing-tape.webp)

   2. Take the super glue and apply one drip at the place shown in the images below to keep the cable flush. This is required before installing the leg to the pelvis.

      ![A single drip of super glue applied from the bottle nozzle onto the red and black cables where they run along the L-shaped channel](https://docs.menlo.ai/manual/v1/images/leg-module/cable-channel-glue-application.webp)