Ferromagnetic shape memory alloy-based actuators offer distintive features that make them advantageous competitors to traditional electromechanical devices. The production of force and motion without contact is one of the most important features. However, the largely non-linear and hysteretic nature of the response of such materials makes them of little use apart from on-off or continuous actuation. In this work we present the results obtained in a laboratory prototype of linear position FSMA actuator, where the active element is a 12 mm long Ni-Mn-Ga single crystal. The crystal expands a maximum of 12 micrometers and in control experiments, is commanded to expand and contract alternatively to reach positions at 5 µm and 8 µm. It shows that the commanded position could be controlled within 20 nm.