diff --git a/csaxs_bec/devices/smaract/smaract_ophyd.py b/csaxs_bec/devices/smaract/smaract_ophyd.py
index 044d3a1..c2e4db7 100644
--- a/csaxs_bec/devices/smaract/smaract_ophyd.py
+++ b/csaxs_bec/devices/smaract/smaract_ophyd.py
@@ -43,7 +43,10 @@ class SmaractReadbackSignal(SmaractSignalRO):
 
 
 class SmaractSetpointSignal(SmaractSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0
 
     @threadlocked
     def _socket_get(self):
@@ -156,6 +159,14 @@ class SmaractMotor(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/tests/tests_devices/test_galil.py b/tests/tests_devices/test_galil.py
index b47f271..f4f9578 100644
--- a/tests/tests_devices/test_galil.py
+++ b/tests/tests_devices/test_galil.py
@@ -217,7 +217,7 @@ def test_wait_for_connection_called(dm_with_devices):
             }
             motor = motor_cls(*args, **kwargs)
             with mock.patch.object(motor.controller, "on") as mock_on:
-
+                motor.controller.get_position = mock.MagicMock(return_value=0)
                 motor.wait_for_connection(timeout=5.0)
                 assert mock_on.call_args_list[-1] == mock.call(timeout=5.0)