Step 1: Install the Waist Yaw Actuator

Take actuator EC-A6416-P2-25 (ID 23) 200_10X and lay it flat on a surface such that the actuator shaft is facing upward toward the ceiling, the port should be nearer to the bottom.

Take part 200_16A and align the 8 holes in the inner circumference of it with the 8 threaded holes on the actuator casing. Make sure that the port cut out on part 200_16A is 45 degree away to the right of one of the cable ports at the bottom.

Take 8 – M4x10 Flat bolt, lightly tighten into the 8 inner holes of part 200_16A to align the part with the actuator.

After the parts are aligned:

• remove each of the 8 – M4x10 flat bolts in a star formation,
• apply threadlocker,
• then tighten them back to secure Part 200_16A and the actuator together.

Take part 200_01C and put it on the surface such that the hollow part points upward towards the ceiling and the two side round holes for the hip pitch actuator are pointing to the left and right sides and not facing down. Make sure the solid part faces towards you and the rectangular hole faces away from you.

Take 8 – M4 Square nuts and put them into the 8 slots around the holes in the inner circumference of Part 200_01C. You can use paper tape to help you secure the nuts for ease of moving.

Align part 200_16A and the actuator such that the port cut out and the port on the actuator is pointing out toward the rectangular cut out. Make sure that the 8 outer holes are aligned with the holes on the surface of Part 200_01C.

Take 8 – M4x18 Socket bolt, lightly tighten into the 8 outer holes of part 200_16A to align the part with part 200_01C. Once the part is aligned, tighten each of the 8 - M4x18 socket bolt to secure the part together.