The present invention relates to a scanning device and a method for scanning. The scanning device comprises a first frame (4) supporting a first deflector (6), and a second frame (8) supporting a second deflector (10). The first frame is arranged for rotation around a first axis (12), and the second frame is arranged for rotation around a second axis (14). The first frame is rotatably connected to a base (38) for rotation around the first axis and the second frame is arranged for rotation around the first axis. The method for scanning comprises rotating the first frame around the first axis according to a first selected value, and rotating the second frame around the second axis according to a second selected value.