# Step 3: Install the Right Hip Pitch Actuator

> Attach the right 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-3
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Pelvis Module › Pelvis
- Previous: [Step 2: Install the Left Hip Pitch Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-2.md)
- Next: [Step 4: Route the Hip Cables and Install the Cover](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/pelvis/step-4.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 2 | 1 |
| EC-A6416-P2-25 actuator (part `200_12X`) (ID 7) | 1 |
| `200_02A` | 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 7) and lay it flat on a surface such that the actuator shaft is facing upward toward the ceiling.

2. Take part `200_02A` and align its inner holes with the holes on the actuator shaft as shown below. Make sure that the port cut out on part `200_02A` is 30 degrees to the left from the port at the bottom.

3. Take **6 of** M4x10 Flat bolts and lightly tighten them into the matching inner holes of part `200_02A` shown below 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_02A` 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 right hip pitch hollow is facing upward toward the ceiling. Part `200_16A` should be pointing towards your left, 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` right hip pitch hollow.

8. Slot the actuator inside the right hip pitch hollow of part `200_01C`. Slowly guide the cable through the cut-out hole on part `200_01C` and `200_02A`. At the end, slightly twist it clockwise so that the cutout on part `200_02A` align with part `200_01C`. Then, align it such that the 8 outer holes of part `200_02A` 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_02A` for the right side, not part `200_03A` from Step 2. Check the positions of both metal stoppers against this instruction's 3D view, not just the bolt-hole alignment, before continuing. Using the wrong part or orientation will prevent the rest of the assembly from fitting correctly.
   >
   > The photo in the Pictures tab shows part `200_03A` from Step 2 to illustrate which two metal stoppers to check. Use this step's part number and 3D view for the correct right-side orientation rather than copying the left-side photo.

   ![Step 2 reference photo of part 200_03A with arrows identifying the two metal stoppers; use Step 3's 3D view for the right-side orientation](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_02A` 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_02A` and part `200_01C` together.