# Step 5: Install the Right Hip Roll Actuator > Mount and connect the right hip roll actuator, then secure its outer support components. - Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-5 - Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Pelvis Module › Right + Left Hip Roll - Previous: [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) - Next: [Step 6: Install the Left Hip Roll Actuator](https://docs.menlo.ai/asimov/1/build/assembly-steps/pelvis-module/right-and-left-hip-roll/step-6.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 4 | 1 | | `200_05B` | 1 | | `200_06C` | 1 | | `200_07C` | 1 | | M4x12 Socket bolt | 6 | | M4x6 Socket bolt | 6 | | M4x14 Socket bolt | 3 | | M4x8 Socket bolt | 3 | | EC-A5013-H17-100 actuator (part `200_13X`) (ID 8) | 1 | | 180 mm single-ended XT30 (2+2) cable | 1 | | Threadlocker | As needed | ## Instructions 1. Put the pelvis assembly from Step 4 on a flat surface, oriented it such that the right hip pitch actuator is facing upward toward the ceiling. Part `200_16A` face toward your left, and the solid part face toward you. 2. Take part `200_05B` and align it 6 holes to the 6 holes on the actuator shaft. Oriented it such that the protruding metal stopper part stays in between the larger gap of the 2 metal stoppers on part `200_02A`. 3. Take **6 of** M4x12 Socket bolts, lightly tighten into the 6 holes of part `200_05B` 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** M4x12 Socket bolts one at a time in a star formation, - apply threadlocker, - then tighten them back to secure Part `200_05B` and the actuator together. 5. Take EC-A5013-H17-100 actuator (ID 8) and connect the XT30 (2+2) connector of the 180 mm single-ended XT30 (2+2) cable to the actuator port nearest the hollow shaft, then route the cable through the shaft. 6. Slide the actuator through part `200_05B` such that the holes on circumference of the actuator are aligned with the holes on the arch of part `200_05B`. The actuator shaft should be facing forward in the same direction as where Part `200_15C` is. 7. Connect the free connector of the right hip pitch actuator cable to the specified port on right hip roll actuator (ID 8). Before moving on to the next step, you need to make sure that the actuator is oriented correctly. The LED on the actuator needs to be roughly positioned as shown in the visualization, as it will need to shine through the LED cut-out on the back cover. Use the photos in the Pictures tab to compare the LED position with the cut-out in the back cover. Refer to the video for more details. ![Right hip roll actuator with its LED window visible before the back cover is fitted](https://docs.menlo.ai/manual/v1/images/pelvis-module/align-pelvis-led-0.webp) ![Back cover held in front of the right hip roll actuator to check that its cut-out aligns with the LED window](https://docs.menlo.ai/manual/v1/images/pelvis-module/align-pelvis-led-1.webp) Video: [Actuator LED orientation against the back cover cut-out](https://static.asimov.inc/manual/v1/videos/actuator-orientation.mp4) 8. Take **6 of** M4x6 Socket bolts and lightly tighten into the 6 holes of part `200_05B` to align the part with the actuator. 9. 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** M4x6 Socket bolts one at a time in a star formation, - apply threadlocker, - then tighten them back to secure Part `200_05B` and the actuator together. 10. Lay the pelvis assembly flat on a surface such that the Part `200_15C` is facing upward toward the ceiling. Take part `200_06C` and slot the actuator (ID 8) into it such that the actuator shaft goes through the round hole on part `200_06C`. 11. Take **3 of** M4x14 Socket bolts and tighten into the 3 holes on top of part `200_06C` to secure the part to the actuator. 12. 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 **3 of** M4x14 Socket bolts one at a time, - apply threadlocker, - then tighten them back to secure Part `200_06C` and the actuator together. 13. Flip the pelvis assembly upside down such that part `200_15C` is now facing downward. Take part `200_07C` and align it with part `200_06C` such that the three holes on part `200_07C` aligned with threaded insert on part `200_06C`. > [!NOTE] > > **Optional: fit the back cover later** > > You can defer fitting and fastening the back cover in instructions 13 and 14, since it will need to be removed later to complete the wiring after installing the leg. Installing it now can help you account for all the parts and fasteners. 14. Take **3 of** M4x8 Socket bolts and tighten into the 3 holes on part `200_07C` to secure the part to part `200_06C`.