diff --git a/pyproject.toml b/pyproject.toml
index c46287b53..bc6e0dc41 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,7 +46,7 @@ dependencies = [
     "ophyd == 1.9.0",
     "ophyd-async >= 0.8a5",
     "bluesky >= 1.13.0a4",
-    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@main",
+    "dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@fcd581d6e5cda2bb78c67893c856ec672581b8ff",
 ]
 
 
diff --git a/src/mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py b/src/mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py
index dbdcd6b19..ac0d24509 100644
--- a/src/mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py
+++ b/src/mx_bluesky/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py
@@ -144,6 +144,14 @@ def run_grid_detection_plan(
             parameters.box_size_um,
         )
 
+    if parameters.selected_aperture:
+        # Start moving the aperture/scatterguard into position without moving it in
+        yield from bps.abs_set(
+            composite.aperture_scatterguard.aperture_outside_beam,
+            parameters.selected_aperture,
+            group=CONST.WAIT.GRID_READY_FOR_DC,
+        )
+
     yield from run_grid_detection_plan(
         oav_params,
         snapshot_template,
diff --git a/src/mx_bluesky/hyperion/experiment_plans/oav_snapshot_plan.py b/src/mx_bluesky/hyperion/experiment_plans/oav_snapshot_plan.py
index e214f6ee5..bf1aea872 100644
--- a/src/mx_bluesky/hyperion/experiment_plans/oav_snapshot_plan.py
+++ b/src/mx_bluesky/hyperion/experiment_plans/oav_snapshot_plan.py
@@ -3,7 +3,7 @@
 
 from bluesky import plan_stubs as bps
 from bluesky.utils import MsgGenerator
-from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.backlight import Backlight, BacklightPosition
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVParameters
@@ -33,22 +33,16 @@ def setup_beamline_for_OAV(
     max_vel = yield from bps.rd(smargon.omega.max_velocity)
     yield from bps.abs_set(smargon.omega.velocity, max_vel, group=group)
     yield from bps.abs_set(backlight, BacklightPosition.IN, group=group)
-    yield from bps.abs_set(
-        aperture_scatterguard,
-        ApertureValue.ROBOT_LOAD,
-        group=group,
-    )
+    yield from bps.trigger(aperture_scatterguard.move_out, group=group)
 
 
 def oav_snapshot_plan(
     composite: OavSnapshotComposite,
     parameters: WithSnapshot,
     oav_parameters: OAVParameters,
-    wait: bool = True,
 ) -> MsgGenerator:
     if not parameters.take_snapshots:
         return
-    yield from bps.wait(group=CONST.WAIT.READY_FOR_OAV)
     yield from _setup_oav(composite, parameters, oav_parameters)
     for omega in parameters.snapshot_omegas_deg or []:
         yield from _take_oav_snapshot(composite, omega)
diff --git a/src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py b/src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py
index 74423743d..e5448eea7 100644
--- a/src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py
+++ b/src/mx_bluesky/hyperion/experiment_plans/robot_load_and_change_energy.py
@@ -10,7 +10,7 @@
 import pydantic
 from blueapi.core import BlueskyContext
 from bluesky.utils import Msg
-from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.dcm import DCM
 from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVoltages
@@ -94,11 +94,7 @@ def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
 def prepare_for_robot_load(
     aperture_scatterguard: ApertureScatterguard, smargon: Smargon
 ):
-    yield from bps.abs_set(
-        aperture_scatterguard,
-        ApertureValue.ROBOT_LOAD,
-        group="prepare_robot_load",
-    )
+    yield from bps.trigger(aperture_scatterguard.move_out, group="prepare_robot_load")
 
     yield from bps.mv(smargon.stub_offsets, StubPosition.RESET_TO_ROBOT_LOAD)  # type: ignore # See: https://github.com/bluesky/bluesky/issues/1809
 
diff --git a/src/mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py b/src/mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py
index 9887847c4..de4aa5dce 100644
--- a/src/mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py
+++ b/src/mx_bluesky/hyperion/experiment_plans/rotation_scan_plan.py
@@ -331,6 +331,13 @@ def _div_by_1000_if_not_none(num: float | None):
         yield from setup_beamline_for_OAV(
             composite.smargon, composite.backlight, composite.aperture_scatterguard
         )
+        yield from bps.wait(group=CONST.WAIT.READY_FOR_OAV)
+        if params.selected_aperture:
+            yield from bps.abs_set(
+                composite.aperture_scatterguard.aperture_outside_beam,
+                params.selected_aperture,
+                group=CONST.WAIT.ROTATION_READY_FOR_DC,
+            )
         yield from oav_snapshot_plan(composite, params, oav_params)
     yield from rotation_scan_plan(
         composite,
diff --git a/tests/conftest.py b/tests/conftest.py
index 702e507c9..b26c35464 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -559,15 +559,15 @@ def aperture_scatterguard(RE):
     ):
         ap_sg = i03.aperture_scatterguard(fake_with_ophyd_sim=True)
     with (
-        patch_async_motor(ap_sg.aperture.x),
-        patch_async_motor(ap_sg.aperture.y),
-        patch_async_motor(ap_sg.aperture.z, 2),
-        patch_async_motor(ap_sg.scatterguard.x),
-        patch_async_motor(ap_sg.scatterguard.y),
+        patch_async_motor(ap_sg._aperture.x),
+        patch_async_motor(ap_sg._aperture.y),
+        patch_async_motor(ap_sg._aperture.z, 2),
+        patch_async_motor(ap_sg._scatterguard.x),
+        patch_async_motor(ap_sg._scatterguard.y),
     ):
         RE(bps.abs_set(ap_sg, ApertureValue.SMALL))
 
-        set_mock_value(ap_sg.aperture.small, 1)
+        set_mock_value(ap_sg._aperture.small, 1)
         yield ap_sg
 
 
diff --git a/tests/system_tests/hyperion/external_interaction/conftest.py b/tests/system_tests/hyperion/external_interaction/conftest.py
index c7104ea00..e96235b2e 100644
--- a/tests/system_tests/hyperion/external_interaction/conftest.py
+++ b/tests/system_tests/hyperion/external_interaction/conftest.py
@@ -321,7 +321,9 @@ def fgs_composite_for_fake_zocalo(
     zocalo_for_fake_zocalo: ZocaloResults,
     done_status: NullStatus,
 ) -> FlyScanXRayCentreComposite:
-    set_mock_value(fake_fgs_composite.aperture_scatterguard.aperture.z.user_setpoint, 2)
+    set_mock_value(
+        fake_fgs_composite.aperture_scatterguard._aperture.z.user_setpoint, 2
+    )
     fake_fgs_composite.eiger.unstage = MagicMock(return_value=done_status)  # type: ignore
     fake_fgs_composite.smargon.stub_offsets.set = MagicMock(return_value=done_status)  # type: ignore
     callback_on_mock_put(
diff --git a/tests/unit_tests/hyperion/experiment_plans/test_flyscan_xray_centre_plan.py b/tests/unit_tests/hyperion/experiment_plans/test_flyscan_xray_centre_plan.py
index 640f81189..0be8604c6 100644
--- a/tests/unit_tests/hyperion/experiment_plans/test_flyscan_xray_centre_plan.py
+++ b/tests/unit_tests/hyperion/experiment_plans/test_flyscan_xray_centre_plan.py
@@ -315,7 +315,7 @@ def test_read_hardware_for_ispyb_updates_from_ophyd_devices(
             # fmt: on
 
     @patch(
-        "dodal.devices.aperturescatterguard.ApertureScatterguard._safe_move_within_datacollection_range",
+        "dodal.devices.aperturescatterguard._safe_move_whilst_in_beam",
         return_value=NullStatus(),
     )
     @patch(
@@ -452,7 +452,7 @@ def test_results_passed_to_move_motors(
         )
 
     @patch(
-        "dodal.devices.aperturescatterguard.ApertureScatterguard._safe_move_within_datacollection_range",
+        "dodal.devices.aperturescatterguard._safe_move_whilst_in_beam",
         return_value=NullStatus(),
     )
     @patch(
diff --git a/tests/unit_tests/hyperion/experiment_plans/test_pin_centre_then_xray_centre_plan.py b/tests/unit_tests/hyperion/experiment_plans/test_pin_centre_then_xray_centre_plan.py
index 1e823779e..17ce2024c 100644
--- a/tests/unit_tests/hyperion/experiment_plans/test_pin_centre_then_xray_centre_plan.py
+++ b/tests/unit_tests/hyperion/experiment_plans/test_pin_centre_then_xray_centre_plan.py
@@ -4,7 +4,6 @@
 from bluesky.run_engine import RunEngine
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from bluesky.utils import Msg
-from dodal.devices.aperturescatterguard import ApertureValue
 from dodal.devices.backlight import BacklightPosition
 from dodal.devices.detector.detector_motion import ShutterState
 from dodal.devices.smargon import Smargon
@@ -292,9 +291,8 @@ def test_pin_centre_then_xray_centre_plan_sets_up_backlight_and_aperture(
     )
     msgs = assert_message_and_return_remaining(
         msgs,
-        lambda msg: msg.command == "set"
-        and msg.obj.name == "aperture_scatterguard"
-        and msg.args == (ApertureValue.ROBOT_LOAD,)
+        lambda msg: msg.command == "trigger"
+        and msg.obj.name == "aperture_scatterguard-move_out"
         and msg.kwargs["group"] == CONST.WAIT.READY_FOR_OAV,
     )
 
diff --git a/tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py b/tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py
index c688a99a5..25596abd2 100644
--- a/tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py
+++ b/tests/unit_tests/hyperion/experiment_plans/test_robot_load_and_change_energy.py
@@ -6,7 +6,7 @@
 from bluesky.run_engine import RunEngine
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from bluesky.utils import Msg
-from dodal.devices.aperturescatterguard import ApertureScatterguard, ApertureValue
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.smargon import Smargon, StubPosition
 from dodal.devices.webcam import Webcam
@@ -171,7 +171,7 @@ async def test_when_prepare_for_robot_load_called_then_moves_as_expected(
     aperture_scatterguard: ApertureScatterguard, smargon: Smargon, done_status
 ):
     smargon.stub_offsets.set = MagicMock(return_value=done_status)
-    aperture_scatterguard.set = MagicMock(return_value=done_status)
+    aperture_scatterguard.move_out.trigger = MagicMock(return_value=done_status)
 
     set_mock_value(smargon.x.user_readback, 10)
     set_mock_value(smargon.z.user_readback, 5)
@@ -185,7 +185,7 @@ async def test_when_prepare_for_robot_load_called_then_moves_as_expected(
     assert await smargon.omega.user_readback.get_value() == 0
 
     smargon.stub_offsets.set.assert_called_once_with(StubPosition.RESET_TO_ROBOT_LOAD)  # type: ignore
-    aperture_scatterguard.set.assert_called_once_with(ApertureValue.ROBOT_LOAD)  # type: ignore
+    aperture_scatterguard.move_out.trigger.assert_called_once_with()  # type: ignore
 
 
 @patch(
diff --git a/tests/unit_tests/hyperion/experiment_plans/test_rotation_scan_plan.py b/tests/unit_tests/hyperion/experiment_plans/test_rotation_scan_plan.py
index f39e57a9d..253b26f2e 100644
--- a/tests/unit_tests/hyperion/experiment_plans/test_rotation_scan_plan.py
+++ b/tests/unit_tests/hyperion/experiment_plans/test_rotation_scan_plan.py
@@ -507,9 +507,8 @@ def test_rotation_snapshot_setup_called_to_move_backlight_in_aperture_out_before
     )
     msgs = assert_message_and_return_remaining(
         msgs,
-        lambda msg: msg.command == "set"
-        and msg.obj.name == "aperture_scatterguard"
-        and msg.args[0] == ApertureValue.ROBOT_LOAD
+        lambda msg: msg.command == "trigger"
+        and msg.obj.name == "aperture_scatterguard-move_out"
         and msg.kwargs["group"] == CONST.WAIT.READY_FOR_OAV,
     )
     msgs = assert_message_and_return_remaining(