# Step 5: Connect the Shoulder Cable Connectors and Position the Actuators

> Seat actuator ID 19 in part 300_14C, connect the XT30 (2+2) cable connectors to actuators ID 19 and ID 20, and route the single-ended cable through actuator ID 20.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-5
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Right Arm Module › Upper Arm Assembly
- Previous: [Step 4: Prepare the Actuator Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-4.md)
- Next: [Step 6: Close the Shoulder Actuator Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/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 |
| - | -: |
| Actuator housing from Step 4 | 1 |
| EC-A4315-P2-36 actuator (part `300_18X`) (ID 19) | 1 |
| EC-A3814-H14-107 actuator (part `300_20X`) (ID 20) | 1 |
| 100 mm double-ended XT30 (2+2) cable | 1 |
| 180 mm single-ended XT30 (2+2) cable | 1 |
| M4x8 Socket bolt | 3 |
| M3x12 Flat bolt | 6 |
| Threadlocker | As needed |

## Instructions

1. Take part `300_14C` from Step 4 and put it flat on a surface, with the inner hollow part facing upward.

2. Place the EC-A4315-P2-36 actuator (ID 19) into the round hollow. The ports on the actuator should be near to the top, and the shaft facing the bottom. The two ports of the actuator should be parallel with the length of `300_14C`.

3. Connect the XT30 (2+2) connector of the 180 mm single-ended XT30 (2+2) cable to the center port on actuator (ID 20), then route the cable through the actuator's hollow shaft.

4. Connect one connector of the 100 mm double-ended XT30 (2+2) cable to the outward-facing port on actuator (ID 19) and the other connector to the outer port on the EC-A3814-H14-107 actuator (ID 20).

5. Turn the current assembly upside down.

6. Align the threaded holes on the shell of actuator (ID 20) with the three hole at the bottom of the long end of Part `300_14C`.

7. Take **3 of** M4x8 Socket bolts and lightly tighten into the three hole on part `300_14C` to align the part with the actuator.

8. 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** M4x8 Socket bolts one at a time,
   - apply threadlocker,
   - then tighten them back to secure Part `300_14C` and the actuator together.

9. Take **6 of** M3x12 Flat bolts and lightly tighten into the 6 holes on the surfaces of Part `300_14C` to align the part with the actuator.

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 **6 of** M3x12 Flat bolts one at a time in a star formation,
    - apply threadlocker,
    - then tighten them back to secure Part `300_14C` and the actuator together.

11. Tighten the **3 bolts** we have put in place in Step 4 Instruction 3 around the circumference of the part. Don’t over tighten it, it is just meant to secure the actuator in place.