# Step 2: Install the Left Hip Pitch Actuator

> Attach the left hip pitch actuator to the pelvis housing and route its XT30 (2+2) cable through the front cutout.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-2
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Pelvis Module › Pelvis
- Previous: [Step 1: Install the Waist Yaw Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-1.md)
- Next: [Step 3: Install the Right Hip Pitch Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/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 |
| - | -: |
| Pelvis assembly from Step 1 | 1 |
| EC-A6416-P2-25 actuator (part `200_11X`) (ID 1) | 1 |
| `200_03A` | 1 |
| M4x10 Flat bolt | 6 |
| M4 nylon-insert locknuts | 8 |
| M4x16 Flat bolt | 8 |
| 200 mm double-ended XT30 (2+2) cable | 1 |
| Threadlocker | As needed |

## Instructions

1. Take EC-A6416-P2-25 actuator (ID 1) and lay it flat on a surface such that the actuator shaft is facing upward toward the ceiling.

2. Take part `200_03A` and align the 6 holes in the inner circumference of it with the 6 holes on the actuator shaft. Make sure that the port cut out on part `200_03A` is 30 degrees to the right from the port at the bottom.

3. Take **6 of** M4x10 Flat bolts, lightly tighten into the 6 inner holes of part `200_03A` to align the part with the actuator.

4. 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** M4x10 Flat bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `200_03A` and the actuator together.

5. Connect one connector of the 200 mm double-ended XT30 (2+2) cable to the actuator port shown above.

6. Take part `200_01C` and lay them flat on the side, such that the left hip pitch hollow is facing upward toward the ceiling. Part `200_16A` should be pointing towards your right, and the solid part should be facing you, not away from you.

7. If you purchased your kit from us, the M4 nylon-insert locknuts should already be pre-inserted, so you can skip this instruction if all 8 are in place.

   Take **8 of** M4 nylon-insert locknuts and put them into the 8 slots around the inner circumference of Part `200_01C` left hip pitch hollow.

8. Slot the actuator inside the left hip pitch hollow of part `200_01C`. Slowly guide the cable through the cut-out hole on part `200_01C` and `200_03A`. At the end, slightly twist it clockwise so that the cutout on part `200_03A` align with part `200_01C`. Then, align it such that the 8 outer holes of part `200_03A` are aligned with the holes on the surface of Part `200_01C`. If you did it correctly, you should be able to see the actuator port facing outward from the front rectangular cut out.

   > [!WARNING]
   >
   > **Check both metal stoppers before fastening**
   >
   > Make sure you have selected part `200_03A` and oriented it correctly. Compare the positions of both metal stoppers with the arrows in the photo in the Pictures tab. With the assembly viewed in the same orientation as the photo, both stoppers must sit above the marked reference line. Check both stoppers, not just the bolt-hole alignment, before continuing. Using the wrong part or orientation will prevent the rest of the assembly from fitting correctly.

   ![Correct orientation of part 200_03A, with arrows indicating both metal stoppers above the marked reference line](https://docs.menlo.ai/manual/v1/images/pelvis-module/200-03a-stopper-orientation.webp)

9. Take **8 of** M4x16 Flat bolts, lightly tighten into the 8 outer holes of part `200_03A` to align the part with part `200_01C`.

10. 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 **8 of** M4x16 Flat bolts one at a time in a star formation,
    - apply threadlocker,
    - then tighten them back to secure Part `200_03A` and part `200_01C` together.