diff --git a/deltatau.py b/deltatau.py
index 6c97ee9..1420e0f 100644
--- a/deltatau.py
+++ b/deltatau.py
@@ -36,8 +36,10 @@ class Deltatau:
     try:
       self._comm=comm=PPComm(**param)
       self._gather=gather=Gather(comm)
-    except AttributeError as e:
-      _log.critical('can not connect to deltatau')
-      return
+    except BaseException as e:
+      _log.critical(f'can not connect to deltatau:{e}')
+      self._comm=comm=None
+      self._gather=gather=None
+      #return
     verbose=0x00
     self._shapepath=sp=shapepath.ShapePath(comm, gather, verbose, sync_mode=1, sync_flag=3)
\ No newline at end of file
diff --git a/pyqtUsrObj.py b/pyqtUsrObj.py
index a51ad9c..df492f3 100644
--- a/pyqtUsrObj.py
+++ b/pyqtUsrObj.py
@@ -190,26 +190,6 @@ class Grid(pg.ROI):
     self.addScaleHandle([0, 0], [1, 1])
     self.addScaleRotateHandle([1, 0], [0, 0])
 
-  def get_points(self,mode=0x2):
-    'generates points of the roi for scanning with deltatau'
-    #pos=np.array(self.pos())
-    cnt=np.array(self._cnt,np.int32)
-    sz=np.array(self.size())
-    pitch=sz/cnt
-    xx, yy=np.meshgrid(range(cnt[0]), range(cnt[1]))
-    if mode&0x01: #modify x scaning forward backward each line
-      for i in range(1,cnt[1],2):
-        xx[i]=xx[i][::-1]
-    if mode&0x02:  # modify y scaning forward backward each line
-      xx=xx.T
-      yy=yy.T
-      for i in range(1, cnt[0], 2):
-        yy[i]=yy[i][::-1]
-
-    pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose()*pitch
-    #pts+=pos
-    return pts
-
   def paint(self, p, *args):
     #pg.ROI.paint(self, p, *args)
     sz=self.state['size']
@@ -255,6 +235,26 @@ class Grid(pg.ROI):
     }
     return jsn
 
+  def get_scan_param(self,mode=0x2):
+    'returns scan parameters for scanning with deltatau. the format is as used for shapepath'
+    #pos=np.array(self.pos())
+    cnt=np.array(self._cnt,np.int32)
+    sz=np.array(self.size())
+    pitch=sz/cnt
+    xx, yy=np.meshgrid(range(cnt[0]), range(cnt[1]))
+    if mode&0x01: #modify x scaning forward backward each line
+      for i in range(1,cnt[1],2):
+        xx[i]=xx[i][::-1]
+    if mode&0x02:  # modify y scaning forward backward each line
+      xx=xx.T
+      yy=yy.T
+      for i in range(1, cnt[0], 2):
+        yy[i]=yy[i][::-1]
+
+    pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose()*pitch
+    #pts+=pos
+    return pts
+
 
 class Path(pg.ROI):
   '''
@@ -461,11 +461,37 @@ class FixTargetFrame(pg.ROI):
     }
     trf=self.transform()
     if not trf.isIdentity():
-      obj_info(trf)
+      #obj_info(trf)
       trf=((trf.m11(),trf.m12()),(trf.m21(),trf.m22()))
       jsn['trf']=trf
     return jsn
 
+  def get_scan_param(self,mode=0x2):
+    'returns scan parameters for scanning with deltatau. the format is as used for shapepath'
+    grid=self._dscr['grid']
+    #pos=np.array(self.pos())
+    cnt  =np.array(grid['count'],np.int32)
+    #pos  =np.array(grid['pos'],np.float)
+    #pitch=np.array(grid['pitch'],np.float)
+    xx, yy=np.meshgrid(range(cnt[0]), range(cnt[1]))
+    if mode&0x01: #modify x scaning forward backward each line
+      for i in range(1,cnt[1],2):
+        xx[i]=xx[i][::-1]
+    if mode&0x02:  # modify y scaning forward backward each line
+      xx=xx.T
+      yy=yy.T
+      for i in range(1, cnt[0], 2):
+        yy[i]=yy[i][::-1]
+
+    pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch
+
+    param={'grid':grid, 'points':pts}
+    trf=self.transform()
+    if not trf.isIdentity():
+      #obj_info(trf)
+      trf=np.array(((trf.m11(),trf.m12()),(trf.m21(),trf.m22())))
+      param['trf']=trf
+    return param
 
 class TxtROI(pg.ROI):
   def __init__(self, pos, size, **kargs):
diff --git a/swissmx.py b/swissmx.py
index 2cd6473..04dd09c 100755
--- a/swissmx.py
+++ b/swissmx.py
@@ -1255,20 +1255,38 @@ class SwissMxWnd(QMainWindow, Ui_MainWindow):
       fy=fast_y.get_val()
       opt_ctr=geo._opt_ctr
       for go in self._goTracked['objLst']:
-        points=go.get_points() #points in coordinate system of ROI
+        if type(go)!=UsrGO.FixTargetFrame:
+          _log.warning(f'for now: ONLY FixTargetFrame are supported ->skipped:{go}')
+          continue
+        try:
+          param=go.get_scan_param() #points in coordinate system of ROI
+        except AttributeError as e:
+          _log.warning(f'no scan parameters for object->skipped:{go}')
+          continue
         # names consists of abrevations
-        # part 0: po=position sz=size dt=delta
+        # part 0: po=position dt=delta
         # part 1: px=pixel eu=engineering units (e.g. mm)
         po_px=go.pos()
-        sz_px=go.size()
-        tr=go.transform() # TODO: this is not yet used
-        UsrGO.obj_info(tr)
         dt_px=-opt_ctr-po_px
-        dt_eu=geo.pix2pos(dt_px)+(fx,fy)
-        for i in range(points.shape[0]):
-          points[i,:]=dt_eu+geo.pix2pos(points[i,:])#*tr
+        po_eu=geo.pix2pos(dt_px)+(fx,fy)  # position of the 0/0 poit of the ROI in engineering units
 
-        self.daq_collect_points(points, visualizer_method="grid", visualizer_params=None)
+        p=param['points']
+        pos=np.array(param['grid']['pos']) #in um
+        pitch=np.array(param['grid']['pitch']) #in um
+        trf=param['trf'] #fix shear/rotation um->um
+        trf=np.asmatrix(np.diag(pitch))*np.asmatrix(trf)*geo._pix2pos
+        po_eu*=1000 #mm to um
+        trf*=1000 #mm to um
+        #pix2pos: return np.asarray(self._pix2pos*np.mat(p).T).ravel()
+
+        for i in range(p.shape[0]):
+          p[i,:]=po_eu+(trf*np.asmatrix(p[i,:]).T).A.ravel()
+
+        print('DEBUG: first point:')
+        print(p[0,:])
+        print('DEBUG: difference from point to point:')
+        print(np.diff(p, axis=0))
+        self.daq_collect(**param)
 
     elif task == TASK_GRID:
       self.re_connect_collect_button(
@@ -1734,6 +1752,56 @@ class SwissMxWnd(QMainWindow, Ui_MainWindow):
     if n>=3:
       geo.least_square_plane(ptFitPlane)
 
+
+  def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
+    #def _OLD_daq_collect_points(self, points, visualizer_method, visualizer_params):
+    app = QApplication.instance()
+    cfg = app._cfg
+    geo = app._geometry
+    verbose=0xff
+    fn='/tmp/shapepath'
+    try:
+      dt=app._deltatau
+    except AttributeError:
+      app._deltatau=dt=deltatau.Deltatau()
+    try:
+      jf=app._jungfrau
+    except AttributeError:
+      app._jungfrau=jf=detector.Jungfrau()
+
+    sp=dt._shapepath
+    sp.points=kwargs['points']
+    #sp.gen_grid_points(w=15, h=15, pitch=3, rnd=0, ofs=(0, +2000))
+    #sp.gen_grid_points(w=5, h=10, pitch=1, rnd=0, ofs=(0, 0));sp.sort_points(False, 10);sp.points
+    #sp.sort_points(False, 15);
+    sp.meta['pt2pt_time']=10
+    sp.setup_gather()
+    sp.setup_sync(verbose=verbose&32, timeOfs=0.05)
+    try:
+      p=geo._fitPlane
+      sp.setup_coord_trf(cz=f'{p[0]}X+{p[1]}Y+{p[2]}')  # reset to shape path system
+    except AttributeError:
+      _log.warning('no plane fitting done. z does not move')
+      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=3, scale=1., dwell=10)
+    sp.homing()  # homing if needed
+    sp.run()  # start motion program
+    sp.wait_armed()  # wait until motors are at first position
+    sp.trigger(0.5)  # send a start trigger (if needed) ater given time
+    if not dt._comm is None:
+      while True:
+        p=sp.progress()
+        if p<0: break
+        _log.info(f'progress {p}/{sp.points.shape[0]}')
+        time.sleep(.1)
+      sp.gather_upload(fnRec=fn+'.npz')
+      #dp=deltatau.shapepath.DebugPlot(sp)
+      #dp.plot_gather(mode=11)
+      #plt.show(block=False)
+      #plt.show(block=True)
+    return
+
   #  **************** OBSOLETE AND/OR OLD STUFF ****************