diff --git a/csaxs_bec/devices/omny/galil/galil_ophyd.py b/csaxs_bec/devices/omny/galil/galil_ophyd.py
index f05325e..d6fcda9 100644
--- a/csaxs_bec/devices/omny/galil/galil_ophyd.py
+++ b/csaxs_bec/devices/omny/galil/galil_ophyd.py
@@ -381,7 +381,10 @@ class GalilReadbackSignal(GalilSignalRO):
 
 
 class GalilSetpointSignal(GalilSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.
diff --git a/csaxs_bec/devices/omny/galil/lgalil_ophyd.py b/csaxs_bec/devices/omny/galil/lgalil_ophyd.py
index b17d429..bff1cd6 100644
--- a/csaxs_bec/devices/omny/galil/lgalil_ophyd.py
+++ b/csaxs_bec/devices/omny/galil/lgalil_ophyd.py
@@ -262,6 +262,14 @@ class LamniGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/galil/ogalil_ophyd.py b/csaxs_bec/devices/omny/galil/ogalil_ophyd.py
index ca55b9d..a7086ab 100644
--- a/csaxs_bec/devices/omny/galil/ogalil_ophyd.py
+++ b/csaxs_bec/devices/omny/galil/ogalil_ophyd.py
@@ -326,6 +326,14 @@ class OMNYGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/galil/sgalil_ophyd.py b/csaxs_bec/devices/omny/galil/sgalil_ophyd.py
index c787aaf..16b1c93 100644
--- a/csaxs_bec/devices/omny/galil/sgalil_ophyd.py
+++ b/csaxs_bec/devices/omny/galil/sgalil_ophyd.py
@@ -388,7 +388,10 @@ class GalilReadbackSignal(GalilSignalRO):
 
 
 class GalilSetpointSignal(GalilSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.
@@ -532,6 +535,14 @@ class SGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py b/csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py
index def31da..f5a3e57 100644
--- a/csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py
+++ b/csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py
@@ -490,7 +490,6 @@ class RtFlomniReadbackSignal(RtReadbackSignal):
 
 
 class RtFlomniSetpointSignal(RtSetpointSignal):
-    setpoint = 0
 
     @retry_once
     @threadlocked
@@ -605,6 +604,14 @@ class RtFlomniMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py b/csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py
index 3e3df3c..c4d22f2 100644
--- a/csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py
+++ b/csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py
@@ -554,7 +554,10 @@ class RtLamniReadbackSignal(RtLamniSignalRO):
 
 
 class RtLamniSetpointSignal(RtLamniSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.
@@ -676,6 +679,14 @@ class RtLamniMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py b/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py
index 13a5fa2..98052fa 100644
--- a/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py
+++ b/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py
@@ -1020,7 +1020,6 @@ class RtOMNYReadbackSignal(RtReadbackSignal):
 
 
 class RtOMNYSetpointSignal(RtSetpointSignal):
-    setpoint = 0
 
     @retry_once
     @threadlocked
@@ -1121,6 +1120,14 @@ class RtOMNYMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""
diff --git a/csaxs_bec/devices/omny/rt/rt_ophyd.py b/csaxs_bec/devices/omny/rt/rt_ophyd.py
index d61d3bd..1948b08 100644
--- a/csaxs_bec/devices/omny/rt/rt_ophyd.py
+++ b/csaxs_bec/devices/omny/rt/rt_ophyd.py
@@ -81,7 +81,10 @@ class RtReadbackSignal(RtSignalRO):
 
 
 class RtSetpointSignal(RtSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.