  We report the past two years of collaboration between the different actors on
the ALMA nutator. Building on previous developments, the nutator has seen
changes in much of the design. A high-modulus carbon fiber structure has been
added on the back of the mirror in order to transfer the voice coils forces
with less deformation, thus reducing delay problems due to flexing. The
controller is now an off-the-shelf National Instrument NI-cRIO, and the
amplifier a class D servo drive from Advanced Motion Controls, with high peak
power able to drive the coils at 300 Volts DC. The stow mechanism has been
totally redesigned to improve on the repeatability and precision of the stow
position, which is also the reference for the 26 bits Heidenhain encoders. This
also improves on the accuracy of the stow position with wind loading. Finally,
the software, written largely with National Instrument's LabView, has been
developed. We will discuss these changes and the preliminary performances
achieved to date. Keywords: ALMA, nutator, class D, high-modulus carbon fiber.
