Rather than a worm gear, have you considered a captured nut with threaded rod through it? Connect the threaded rod to the motor via a piece of silicon tubing over the motor shaft and rod. The captured nut can be attached to the vertical side of the PS one case or, if possible in the center of the back of the base.
As long as you have it track smoothly, there's no reason you wouldn't be able to use limit switches to operate the motor.



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