diff --git a/xtreme_bec/device_configs/optics.yaml b/xtreme_bec/device_configs/optics.yaml
index 03dbe57..20ef80f 100644
--- a/xtreme_bec/device_configs/optics.yaml
+++ b/xtreme_bec/device_configs/optics.yaml
@@ -1,65 +1,75 @@
-cmu_rox:
-  readoutPriority: baseline
-  description: "Collimating mirror rotation x"
-  deviceClass: ophyd_devices.EpicsMotor
+cmu_y:
+  description: CMU y pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-CMU:ROX"
-  onFailure: retry
+    prefix: X07MA-OP-CMU
+    override_suffixes:
+      user_readback: :oy
+      user_setpoint: :ty.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-cmu_roy:
-  readoutPriority: baseline
-  description: "Collimating mirror rotation y"
-  deviceClass: ophyd_devices.EpicsMotor
+cmu_z:
+  description: CMU z pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-CMU:ROY"
-  onFailure: retry
+    prefix: X07MA-OP-CMU
+    override_suffixes:
+      user_readback: :oz
+      user_setpoint: :tz.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-cmu_roz:
-  readoutPriority: baseline
-  description: "Collimating mirror rotation z"
-  deviceClass: ophyd_devices.EpicsMotor
+cmu_rx:
+  description: CMU Rx pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-CMU:ROZ"
-  onFailure: retry
+    prefix: X07MA-OP-CMU
+    override_suffixes:
+      user_readback: :oRx
+      user_setpoint: :tRx.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-cmu_try:
-  readoutPriority: baseline
-  description: "Collimating mirror translation y"
-  deviceClass: ophyd_devices.EpicsMotor
+cmu_ry:
+  description: CMU Ry pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-CMU:TRY"
-  onFailure: retry
+    prefix: X07MA-OP-CMU
+    override_suffixes:
+      user_readback: :oRy
+      user_setpoint: :tRy.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-cmu_trz:
-  readoutPriority: baseline
-  description: "Collimating mirror translation z"
-  deviceClass: ophyd_devices.EpicsMotor
+cmu_rz:
+  description: CMU Rz pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-CMU:TRZ"
-  onFailure: retry
+    prefix: X07MA-OP-CMU
+    override_suffixes:
+      user_readback: :oRz
+      user_setpoint: :tRz.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
+  deviceTags:
+    - optics
+
+pgm_id_coupling:
+  description: "PGM ID coupling"
+  deviceClass: ophyd_devices.EpicsSignal
+  deviceConfig:
+    read_pv: X07MA-PHS-E:OPT
+  enabled: true
+  readoutPriority: baseline
   deviceTags:
     - optics
 
@@ -102,68 +112,68 @@ grating_beta:
   deviceTags:
     - optics
 
-fmu_rox:
-  readoutPriority: baseline
-  description: "Focusing mirror rotation x"
-  deviceClass: ophyd_devices.EpicsMotor
+fmu_y:
+  description: FMU y pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-FMU:ROX"
-  onFailure: retry
+    prefix: X07MA-OP-FMU
+    override_suffixes:
+      user_readback: :oy
+      user_setpoint: :ty.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-fmu_roy:
-  readoutPriority: baseline
-  description: "Focusing mirror rotation y"
-  deviceClass: ophyd_devices.EpicsMotor
+fmu_z:
+  description: FMU z pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-FMU:ROY"
-  onFailure: retry
+    prefix: X07MA-OP-FMU
+    override_suffixes:
+      user_readback: :oz
+      user_setpoint: :tz.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-fmu_roz:
-  readoutPriority: baseline
-  description: "Focusing mirror rotation z"
-  deviceClass: ophyd_devices.EpicsMotor
+fmu_rx:
+  description: FMU Rx pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-FMU:ROZ"
-  onFailure: retry
+    prefix: X07MA-OP-FMU
+    override_suffixes:
+      user_readback: :oRx
+      user_setpoint: :tRx.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-fmu_try:
-  readoutPriority: baseline
-  description: "Focusing mirror translation y"
-  deviceClass: ophyd_devices.EpicsMotor
+fmu_ry:
+  description: FMU Ry pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-FMU:TRY"
-  onFailure: retry
+    prefix: X07MA-OP-FMU
+    override_suffixes:
+      user_readback: :oRy
+      user_setpoint: :tRy.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
-fmu_trz:
-  readoutPriority: baseline
-  description: "Focusing mirror translation z"
-  deviceClass: ophyd_devices.EpicsMotor
+fmu_rz:
+  description: FMU Rz pseudo motor
+  deviceClass: xtreme_bec.devices.mirror_pseudo.MirrorPseudo
   deviceConfig:
-    prefix: "X07MA-OP-FMU:TRZ"
-  onFailure: retry
+    prefix: X07MA-OP-FMU
+    override_suffixes:
+      user_readback: :oRz
+      user_setpoint: :tRz.A
   enabled: true
-  readOnly: false
-  softwareTrigger: false
+  readoutPriority: baseline
   deviceTags:
     - optics
 
@@ -179,68 +189,3 @@ exit_slit:
   softwareTrigger: false
   deviceTags:
     - optics
-
-rmu_rox:
-  readoutPriority: baseline
-  description: "Refocusing mirror rotation x"
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig:
-    prefix: "X07MA-OP-RMU:ROX"
-  onFailure: retry
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-  deviceTags:
-    - optics
-
-rmu_roy:
-  readoutPriority: baseline
-  description: "Refocusing mirror rotation y"
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig:
-    prefix: "X07MA-OP-RMU:ROY"
-  onFailure: retry
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-  deviceTags:
-    - optics
-
-rmu_roz:
-  readoutPriority: baseline
-  description: "Refocusing mirror rotation z"
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig:
-    prefix: "X07MA-OP-RMU:ROZ"
-  onFailure: retry
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-  deviceTags:
-    - optics
-
-rmu_try:
-  readoutPriority: baseline
-  description: "Refocusing mirror translation y"
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig:
-    prefix: "X07MA-OP-RMU:TRY"
-  onFailure: retry
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-  deviceTags:
-    - optics
-
-rmu_trz:
-  readoutPriority: baseline
-  description: "Refocusing mirror translation z"
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig:
-    prefix: "X07MA-OP-RMU:TRZ"
-  onFailure: retry
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-  deviceTags:
-    - optics
diff --git a/xtreme_bec/devices/mirror_pseudo.py b/xtreme_bec/devices/mirror_pseudo.py
new file mode 100644
index 0000000..0e9b3a0
--- /dev/null
+++ b/xtreme_bec/devices/mirror_pseudo.py
@@ -0,0 +1,23 @@
+from ophyd import Component as Cpt
+from ophyd import EpicsSignal
+from ophyd_devices.devices.simple_positioner import PSISimplePositionerBase
+from ophyd_devices.utils.psi_device_base_utils import TransitionStatus
+
+
+class MirrorPseudo(PSISimplePositionerBase):
+    user_readback = Cpt(EpicsSignal, "R")
+    user_setpoint = Cpt(EpicsSignal, "S")
+    motor_done_move = Cpt(EpicsSignal, ":BUSY")
+
+    def _setup_move(self, position):
+        """Move and do not wait until motion is complete (asynchronous)"""
+
+        def _done_cb(status, *args, **kwargs):
+            self._done_moving(success=status.success)
+            self._move_completion_status = None
+
+        self._move_completion_status = TransitionStatus(self.motor_done_move, transitions=[1, 0])
+        self.user_setpoint.put(position, wait=False)
+
+        self.cancel_on_stop(self._move_completion_status)
+        self._move_completion_status.add_callback(_done_cb)
diff --git a/xtreme_bec/scans/otf_scan.py b/xtreme_bec/scans/otf_scan.py
index 8c7e3ed..b26dbc7 100644
--- a/xtreme_bec/scans/otf_scan.py
+++ b/xtreme_bec/scans/otf_scan.py
@@ -123,7 +123,6 @@ class OTFScan(ScanBase):
         devices, e.g. devices that have a short timeout.
         The pre-scan logic is typically implemented on the device itself.
         """
-        self.actions.pre_scan_all_devices()
 
         self.dev.mirror_theta.base_velocity.put(self.default_velocity / 10)
         self.dev.grating_beta.base_velocity.put(self.default_velocity / 10)
@@ -144,6 +143,8 @@ class OTFScan(ScanBase):
         self.dev.grating_beta.velocity.put(beta_speed)
         self.mono.sync_with_undulator.put(1)
 
+        self.actions.pre_scan_all_devices()
+
     @scan_hook
     def scan_core(self):
         """