diff --git a/ophyd_devices/galil/sgalil_ophyd.py b/ophyd_devices/galil/sgalil_ophyd.py
index dc125ea..4b36f14 100644
--- a/ophyd_devices/galil/sgalil_ophyd.py
+++ b/ophyd_devices/galil/sgalil_ophyd.py
@@ -264,6 +264,9 @@ class GalilController(Controller):
             LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s
 
         """
+
+                #time.sleep(0.2)
+
         # Check limits
         # TODO check sign of stage, or not necessary
         check_values = [start_y, end_y, start_x, end_x]
@@ -280,6 +283,8 @@ class GalilController(Controller):
         step_grid = (end_x - start_x) / interval_x
         n_samples = int(interval_y * interval_x)
 
+        # Hard coded to maximum offset of 0.1mm to avoid long motions.
+        self.socket_put_and_receive(f"off={(0*0.1/2*1000):f}")
         self.socket_put_and_receive(f"a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}")
         self.socket_put_and_receive(
             f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
@@ -289,13 +294,39 @@ class GalilController(Controller):
         # sleep 50ms to avoid controller running into
         time.sleep(0.1)
         self.socket_put_and_receive("XQ#SCANG")
+        #time.sleep(0.1)
+        #threading.Thread(target=_while_in_motion(3, n_samples), daemon=True).start()
+        #self._while_in_motion(3, n_samples)
+
+        
+        
+    def _while_in_motion(self, thread_id: int, n_samples: int) -> tuple:
         last_readout = 0
+        val_axis2 = []  # y axis
+        val_axis4 = []  # x axis
+        while self.is_thread_active(thread_id):
+            posct = int(self.socket_put_and_receive(f'MGposct').strip().split(".")[0])
+            logger.info(f'SGalil is scanning - latest enconder position {posct+1} from {n_samples}')
+            time.sleep(1)
+            if posct > last_readout:
+                positions = self.read_encoder_position(last_readout, posct)
+                val_axis4.extend(positions[0])
+                val_axis2.extend(positions[1])
+                last_readout = posct+1
+            logger.info(len(val_axis2))
+            time.sleep(1)
+        #Readout of last positions after scan finished
+        posct = int(self.socket_put_and_receive(f'MGposct').strip().split(".")[0])
+        logger.info(f'SGalil is scanning - latest enconder position {posct} from {n_samples}')
+        if posct > last_readout:
+            positions = self.read_encoder_position(last_readout, posct)
+            val_axis4.extend(positions[0])
+            val_axis2.extend(positions[1])
 
-        curren_encoder = self.socket_put_and_receive(f"MGposct")
-        # TODO add here loop for continous readout -> checks thread?
+        return val_axis4, val_axis2
 
-    # TODO does not run from ipython
-    def read_encoder_position(fromval: int, toval: int) -> tuple:
+
+    def read_encoder_position(self, fromval: int, toval: int) -> tuple:
         val_axis2 = []  # y axis
         val_axis4 = []  # x axis
         for ii in range(fromval, toval + 1):