diff --git a/python/shapepath.py b/python/shapepath.py
index 003b4bf..a039afa 100755
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -705,12 +705,19 @@ class ShapePath(MotionBase):
               numPad : number of padding points to reduce aliasing (default=16)
     mode:4  pvt motion short code using grid parameters
             common kwargs plus:
-              trf    : transformation that will be done on 'grid points'
+              trf : transformation that will be done on 'grid points'
               grid: grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
-                    scan=0 ->X,Y 'snake' scan
-                    scan=1 ->Y,X 'snake' scan
+    mode:5  pvt motion short code using grid parameters. Instead of continous motion it moves and waits as give  in the parameterstime
+            common kwargs plus:
+              trf :  transformation that will be done on 'grid points'
+              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)
+
     prg=f'close all buffers\nopen prog {prgId}\n'
 
     verb=self.verbose
@@ -720,7 +727,7 @@ class ShapePath(MotionBase):
     except AttributeError:
       _log.warning('missing motion sync code!')
     # this uses Coord[1].Tm and limits with MaxSpeed
-    if mode in (1,3,4): #### pvt motion
+    if mode in (1,3,4,5): #### pvt motion
       pt2pt_time=self.meta['pt2pt_time']
       ts=self.meta['srv_per']
       scale=kwargs.get('scale', 1.)
@@ -771,15 +778,14 @@ class ShapePath(MotionBase):
             plt.show(block=False)
         pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
         prg+='  linear abs\n  X%g Y%g\n' % tuple(pv[0, (0,1)])
-      else: # mode==4:  #### pvt motion, short code using grid parameters
+      else: # mode==(4,5):  #### pvt motion, short code using grid parameters
         g=kwargs['grid']
         nx, ny=g['count']
-        scan=0x2
         xx, yy=np.meshgrid(range(nx), range(ny))
-        if scan&0x01: #modify x scaning forward backward each line
+        if scan==0: # snake motion X fast, Y slow
           for i in range(1,ny,2):
             xx[i]=xx[i][::-1]
-        if scan&0x02:  # modify y scaning forward backward each line
+        else: #scan==1 snake motion Y fast, X slow
           xx=xx.T
           yy=yy.T
           for i in range(1, nx, 2):
@@ -810,9 +816,7 @@ class ShapePath(MotionBase):
           #prg+=f'N{idx} ' + 'X%g:%g Y%g:%g\n'%tuple(pv[idx,(0,2,1,3)])
           prg+=f'  X%g:%g Y%g:%g\n'%tuple(pv[idx, (0, 2, 1, 3)])
         prg+=f'  X{pv[-1, 0]:g} Y{pv[-1, 1]:g}\n'
-      else: # mode=4
-        #scan=0 # X fast Y slow
-        scan=1 # X fast Y slow
+      elif mode==4:
         if scan==0:
           raise Exception('scan=0 not supported')
           pass
@@ -821,49 +825,110 @@ class ShapePath(MotionBase):
           vy=py/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
 
           prg+=f'''\
-//grid pvt motion
-L1=0 //slow loop x
-L0=0 //fast loop y
-while(L1<{nx})
-{{
-  //send 1"A:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{vy/2:g}
-  X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy/2:g}
-  L0+=1
-  while(L0<{ny}-1)
+  //grid pvt motion
+  L1=0 //slow loop x
+  L0=0 //fast loop y
+  while(L1<{nx})
   {{
-    //send 1"B:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{vy:g}
-    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy:g}
+    //send 1"A:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{vy/2:g}
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy/2:g}
+    L0+=1
+    while(L0<{ny}-1)
+    {{
+      //send 1"B:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{vy:g}
+      X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy:g}
+      L0+=1
+    }}
+    if(L1>={nx}-1)
+    {{
+      break
+    }}
+    //send 1"C:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
+    X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
+    L1+=1
+    //send 1"D:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
+    X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
+    L0-=1
+    while(L0>=1)
+    {{
+      //send 1"E:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{-vy:g}
+      X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{-vy:g}
+      L0-=1
+    }}
+    if(L1>={nx}-1)
+    {{
+      break
+    }}
+    //send 1"F:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
+    X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
+    L1+=1
+    //send 1"G:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
+    X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
     L0+=1
   }}
-  if(L1>={nx}-1)
+  //send 1"H:move X%g:%g Y%g:%g",{ox}+L1*{px},{0:g},{oy}+L0*{py},{0:g}
+  X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
+
+'''
+      else:  # mode=5
+        if scan==0:
+          raise Exception('scan=0 not supported')
+          pass
+        else:  # scan=1
+          tmove=kwargs['tmove']
+          twait=kwargs['twait']
+          prg+=f'''\
+  pvt{tmove} abs
+  //grid pvt motion
+  L1=0 //slow loop x
+  L0=0 //fast loop y
+  while(L1<{nx})
   {{
-    break
-  }}
-  //send 1"C:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
-  X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
-  L1+=1
-  //send 1"D:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
-  X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
-  L0-=1
-  while(L0>=1)
-  {{
-    //send 1"E:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},{-vy:g}
-    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{-vy:g}
+    //send 1"A:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+    delay{twait}
+    L0+=1
+    while(L0<{ny}-1)
+    {{
+      //send 1"B:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+      X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+      delay{twait}
+      L0+=1
+    }}
+    if(L1>={nx}-1)
+    {{
+      break
+    }}
+    //send 1"C:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+    delay{twait}
+    L1+=1
+    //send 1"D:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+    delay{twait}
     L0-=1
+    while(L0>=1)
+    {{
+      //send 1"E:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+      X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+      delay{twait}
+      L0-=1
+    }}
+    if(L1>={nx}-1)
+    {{
+      break
+    }}
+    //send 1"F:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+    delay{twait}
+    L1+=1
+    //send 1"G:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+    X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
+    delay{twait}
+    L0+=1
   }}
-  if(L1>={nx}-1)
-  {{
-    break
-  }}
-  //send 1"F:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
-  X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
-  L1+=1
-  //send 1"G:move X%g:%g Y%g:%g",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
-  X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
-  L0+=1
-}}
-//send 1"H:move X%g:%g Y%g:%g",{ox}+L1*{px},{0:g},{oy}+L0*{py},{0:g}
-X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
+  //send 1"H:move X%g:%g Y%g:%g",{ox}+L1*{px},0,{oy}+L0*{py},0
+  X({ox}+L1*{px}):0 Y({oy}+L0*{py}):0
 
 '''
       #common code to repeat the motion multiple times
@@ -881,6 +946,7 @@ f(P100>0)
       else:
         prg+=f'  dwell {dwell}\n  Gather.Enable=0\nclose\n'
     #prg+='&1\nb%dr\n'%prgId)
+
     if verb&0x02:
       DebugPlot.plot_points(self.mot_pts)
       plt.show(block=False)