//Define the start position for az and el. az = .1 and el = .2
//The azimuth goes one way for +ve, and the other for -ve numbers from a start pos of 0
//P10.1 and P11.2 MUST always be the starting positions for the az and el.

P10.1=116666	//This is 276 deg (360-276 = 84 * 1388.88)
P11.2=-1389 	//This is 2 deg -ve to move up. 2 * -694.44 = -1389

P6.2=1389  	//This is -2 deg +ve to move down. 2 * 694.44 = 1389
P7.2=-17361	//This is +25 deg elevation
P13.2=-48610	//This is +70 deg elevation

P8.1=-133332	//96 deg
P9.1=241666	//186 deg
P12.1=491666	//6 deg
P14.1=500000	//Once round in azimuth so 0/360
P15.1=0		//Home pos for az

S1.1=416	//Define speeds They should match what you wanted - but tweak them. Spees = pulses/sec x 10
S1.2=69		//You can alter this one to speed up the rhi scans. I used 690 for testing.
S2.2=500
S3.1=1666

A1.1=100	//Define accelerations
A2.2=200

T1.2=200	//Define timers
T1.1=200

B1.1		//Define the start of the program bank
X0.1		//Infinite loop

T1.2,T1.1	//el wait for 200ms, az wait for 200ms

/At az = +276, do the -2 to +25 el sweep x 3
X3.1
A2.2,S1.2,P6.2
T1.2
A2.2,S1.2,P7.2
T1.2
X3.1-

//Back to el = +2 deg
A2.2,S2.2,P11.2

//Move on through az=0 to az = 96

A1.1,S1.1,P8.1
T1.1

/At az = +456 deg (96 deg), do the -2 to +25 el sweep x 3
X3.1
A2.2,S1.2,P6.2
T1.2
A2.2,S1.2,P7.2
T1.2
X3.1-

//Back to el = +2 deg
A2.2,S2.2,P11.2

//Move back through az=0 to az = 186
A1.1,S1.1,P9.1
T1.1

/At az = +186 deg, do the -2 to +25 el sweep x 3
X3.1
A2.2,S1.2,P6.2
T1.2
A2.2,S1.2,P7.2
T1.2
X3.1-

//Back to el = +2 deg
A2.2,S2.2,P11.2

//Move back through az=180 and 90 to az = 6
A1.1,S1.1,P12.1
T1.1

/At az = +6 deg, do the -2 to +25 el sweep x 3
X3.1
A2.2,S1.2,P6.2
T1.2
A2.2,S1.2,P7.2
T1.2
X3.1-

//Move to start of VAD position - i.e. az=0,el=+70
A1.1,S1.1,P14.1,A2.2,S2.2,P13.2
T1.2,T1.1

Go round, then back again

A1.1,S3.1,P14.1
T1.1
A1.1,S3.1,P15.1

//Go back to start position
A1.1,S3.1,P10.1,A1.2,S2.2,P11.2
T1.2,T1.1

//End of inf loop
X0.1-
END.1
$.1