diff --git a/python/shapepath.py b/python/shapepath.py
index a039afa..e147521 100755
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -713,7 +713,6 @@ class ShapePath(MotionBase):
               grid:  grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
               tmove: time to move in ms
               twait: time to wait in ms
-
     '''
     #scan=0 # snake motion X fast, Y slow
     scan=1 # snake motion Y fast, X slow (default)
@@ -796,7 +795,8 @@ class ShapePath(MotionBase):
         except KeyError as e:
           ox, oy=g['pos']
           px, py=g['pitch']
-          self.mot_pts=pt
+          #self.mot_pts=pt
+          self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
         else:
           ox, oy=(0,0)
           px, py=(1,1)
@@ -1069,25 +1069,28 @@ if __name__=='__main__':
     #gp.spiral(rStart=100,rInc=130,numSeg=4,numCir=2, ofs=(0, 0))
     #gp.grid(w=20,h=20,pitch=100,rnd=0,ofs=(0,+2000));gp.sort()
     #gp.grid(w=5,h=10,pitch=100,rnd=0,ofs=(0,+2000));gp.sort(grp_sz=10)
-
-    #gp.grid(w=50,h=50,pitch=120,rnd=0,ofs=(0,+2000));gp.sort(grp_sz=50);   sp.meta['pt2pt_time']=10
-    #gp.grid(w=16,h=16,pitch=120,rnd=0,ofs=(0,+2000));gp.sort(grp_sz=16);   sp.meta['pt2pt_time']=10
+    #gp.grid(w=50,h=50,pitch=120,rnd=0,ofs=(0,+2000));gp.sort(grp_sz=50)
+    #gp.grid(w=16,h=16,pitch=120,rnd=0,ofs=(0,+2000));gp.sort(grp_sz=16)
     #12.5x12.5
-    #gp.grid(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));gp.sort(grp_sz=78);   sp.meta['pt2pt_time']=10
+    #gp.grid(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));gp.sort(grp_sz=78)
     #23.0x23.0 -> only 3 data points from shot to shot: 6,9,12,14,17,20...
-    #gp.grid(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));gp.sort(grp_sz=162);   sp.meta['pt2pt_time']=10
-
+    #gp.grid(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));gp.sort(grp_sz=162)
     #gp.grid(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
     #gp.spiral(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
     #gp.spiral(rStart=100,rInc=10,numSeg=2,numCir=32, phase=45, ofs=(0, 0))
     #gp.spiral(rStart=100,rInc=10,numSeg=4,numCir=32, ofs=(0, 0))
     #gp.closed_shifted()
-    gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(grp_sz=15);   sp.meta['pt2pt_time']=10
-    #gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(mode=0,grp_sz=10);   sp.meta['pt2pt_time']=10
+    #gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(mode=0,grp_sz=10)
+    #gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(grp_sz=15)
 
-    grid={'pos':(-1000, -1200),'pitch':(120,120),'count':(10,11)}
-    #grid={'pos':(-500, -600),'pitch':(120,120),'count':(40,45)}
-    #grid={'pos':(-500, -600),'pitch':(12,12),'count':(400,450)}
+    # for motion mode 4,5
+    grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(10, 11)}
+
+    sp.meta['pt2pt_time']=10
+    try:
+      num_pts=gp.points.shape[0]
+    except AttributeError as e:
+      num_pts=np.array(grid['count'], np.int32).prod()
 
     if sp.comm:
       gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
@@ -1096,7 +1099,7 @@ if __name__=='__main__':
         gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
 
       ovhdTime=100
-      acq_per=int(np.ceil((sp.meta['pt2pt_time']*sp.mot_pts.shape[0]+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
+      acq_per=int(np.ceil((sp.meta['pt2pt_time']*num_pts+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
       if args.verbose&0x01:
         _log.info(f'''\
   Gather.MaxLines:{gtMaxLn}
@@ -1107,12 +1110,22 @@ if __name__=='__main__':
       sp.setup_gather(acq_per=acq_per)
       sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
       sp.setup_coord_trf() # reset to shape path system
-      sp.meta['pt2pt_time']=10 #put between setup_sync and setup_motion to have more motion points than FEL syncs
 
-
-    sp.setup_motion(fnPrg=fn+'.prg', mode=1, scale=1.,dwell=10,points=gp.points)
-    #sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1.,dwell=10,points=gp.points)
-    #sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1.,dwell=10,grid=grid)
+    # mode:0  unused
+    # mode:1  pvt motion
+    # mode:2  unused
+    # mode:3  pvt motion using inverse fft velocity
+    # mode:4  pvt motion short code using grid parameters
+    # mode:5  pvt motion short code using grid parameters. Instead of continous motion it moves and waits as give in the parameter time
+    mode=4
+    if mode==1:
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=sp.mot_pts)
+    elif mode==3:
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=sp.mot_pts)
+    elif mode==4:
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
+    elif mode==5:
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=20 ,twait=30, grid=grid)
 
     sp.homing()      #homing if needed
     sp.run()         #start motion program
@@ -1125,7 +1138,7 @@ if __name__=='__main__':
       while True:
         p=sp.progress()
         if p<0: break
-        _log.info('progress %d/%d'%(p,sp.points.shape[0]));time.sleep(.1)
+        _log.info('progress %d/%d'%(p,sp.mot_pts.shape[0]));time.sleep(.1)
       sp.gather_upload(fnRec=fn+'.npz')
       dp=DebugPlot(sp);dp.plot_gather(mode=11)
     _log.info('done')