Very accurate cryogenic mechanisms for CRIRES+

After 5 years of operation on the VLT, a large upgrade of CRIRES (the ESO Cryogenic InfraRed Echelle Spectrograph) was decided mainly in order to increase the efficiency. Using a cross dispersion design allows better wavelength coverage per exposure. This means a complete re-design of the cryogenic pre-optic which were including a predispersion stage with a large prism as dispersive element. The new design requires a move of the entrance slit and associated decker toward the first intermediate focal plane right behind the window. Implement 2 functions with high positioning accuracy in a pre-defined and limited space was a real challenge. The design and the test results recorded in the ESO Cryogenic Test Facility are reported in this paper. The second critical function is the grating wheel which positions the 6 cross disperser gratings into the beam. The paper describes the design of the mechanism which includes a detente system in order to guaranty the 5 arc sec positioning reproducibility requested. The design includes also feedback system, based on switches, in order to ensure that the right grating is in position before starting a long exposure. The paper reports on the tests carried out at cryogenic temperature at the sub-system level. It also includes early performances recorded in the instrument along the first phases of the system test