# Step 9: Install Right Ankle A and B Actuators > Connect and install right ankle A actuator ID 11 and right ankle B actuator ID 12. - Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-9 - Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Right Leg Module › Knee + Calf Assembly - Previous: [Step 8: Assemble the Knee Housing](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-8.md) - Next: [Step 10: Install the Linkage Cranks and Cover](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-leg-module/knee-and-calf-assembly/step-10.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 | | - | -: | | Current assembly from Step 8 | 1 | | Right ankle A EC-A4310-P2-36 actuator (part `500_15X`) (ID 11) | 1 | | Right ankle B EC-A4310-P2-36 actuator (part `500_16X`) (ID 12) | 1 | | 100 mm double-ended XT30 (2+2) cable | 1 | | M3x12 Flat bolt | 12 | | Threadlocker | As needed | ## Instructions 1. Flip the current assembly over such that the knee part is facing downward toward the surface and the 2 hollow portions of part `500_10C` are facing upward toward the ceiling. 2. Place right ankle A EC-A4310-P2-36 actuator (ID 11) and right ankle B EC-A4310-P2-36 actuator (ID 12) on a flat surface with their shafts facing downward and ports near the top. Connect one connector of the 100 mm double-ended XT30 (2+2) cable to the port on ankle A and the other connector to the port on ankle B. 3. Take right ankle A actuator (ID 11) and align it into the first hollow nearer to the knee on part `500_10C`. The actuator shaft should be facing downward toward the floor. Make sure that the port and cable are aligned with the joint port cut-out between the two hollow portions. > [!WARNING] > > **Remember to match the Actuator LED with the cutout** > > You should be able to see the LED cut-outs on the calf part `500_10C`. Make sure that the actuator is oriented correctly, so that the LED portion of the actuator lines up with those cut-outs. 4. Take right ankle B actuator (ID 12) and align it into the second hollow nearer to the ankle on part `500_10C`. Make sure that the cable and ports of the actuator are on top of the cable from right ankle A actuator (ID 11) in the joint port cut out. > [!WARNING] > > **Remember to match the Actuator LED with the cutout** > > You should be able to see the LED cut-outs on the calf part `500_10C`. Make sure that the actuator is oriented correctly, so that the LED portion of the actuator lines up with those cut-outs. > [!NOTE] > > **Follow the actuator IDs in this step** > > The same photos are used for both legs because the ankle assemblies have similar LED alignment and cable routing. Any ID labels visible in the photos are not a guide to which actuators to use. Always follow the actuator IDs specified in this step for the leg you are assembling. ![Close-up of the LED window on the side of an ankle actuator before installation](https://docs.menlo.ai/manual/v1/images/leg-module/ankle-actuator-led.webp) ![An ankle actuator held above the calf housing with its LED window indicated for alignment with the housing cutout](https://docs.menlo.ai/manual/v1/images/leg-module/ankle-actuator-led-alignment.webp) ![Two arrows pointing to the ankle actuator LED cutouts on the outside of the calf housing](https://docs.menlo.ai/manual/v1/images/leg-module/ankle-led-cutouts.webp) ![Left-leg cable-routing reference showing the cable loop between the two installed ankle actuators through the shared cutout in the calf housing](https://docs.menlo.ai/manual/v1/images/leg-module/ankle-cable.webp) 5. Bend the knee upward such that the ankle is facing the ceiling slowly. You should be seeing the 2 actuator shafts facing you right now. 6. Take **6 of** M3x12 Flat bolts and lightly tighten them through the 6 holes around the first hollow near to the knee on part `500_10C` to align part `500_10C` with the actuator underneath. 7. 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 `500_10C` and the actuator together. 8. Take **6 of** M3x12 Flat bolts and lightly tighten them through the 6 holes around the second hollow near to the ankle on part `500_10C` to align part `500_10C` with the actuator underneath. 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** M3x12 Flat bolts one at a time in a star formation, - apply threadlocker, - then tighten them back to secure Part `500_10C` and the actuator together.