diff --git a/setup.cfg b/setup.cfg
index 4c140471c..b8aa40260 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -41,7 +41,7 @@ install_requires =
     ophyd-async >= 0.3a5
     bluesky >= 1.13.0a4
     blueapi >= 0.4.3-rc1
-    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git
+    dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@be39aac2020879b1ac28bffaae5dea52b9fd3b00
 
 [options.entry_points]
 console_scripts =
diff --git a/src/hyperion/device_setup_plans/manipulate_sample.py b/src/hyperion/device_setup_plans/manipulate_sample.py
index ee942b17a..90a1d83d0 100644
--- a/src/hyperion/device_setup_plans/manipulate_sample.py
+++ b/src/hyperion/device_setup_plans/manipulate_sample.py
@@ -2,6 +2,7 @@
 
 import bluesky.plan_stubs as bps
 from dodal.devices.aperturescatterguard import (
+    ApertureInOut,
     AperturePositionGDANames,
     ApertureScatterguard,
 )
@@ -61,7 +62,7 @@ def move_aperture_if_required(
         LOGGER.info(f"Setting aperture position to {aperture_position}")
         yield from bps.abs_set(
             aperture_scatterguard,
-            aperture_position,
+            (ApertureInOut.IN, aperture_position),
             group=group,
         )
 
diff --git a/src/hyperion/experiment_plans/flyscan_xray_centre_plan.py b/src/hyperion/experiment_plans/flyscan_xray_centre_plan.py
index 92c071471..2794cbd2a 100755
--- a/src/hyperion/experiment_plans/flyscan_xray_centre_plan.py
+++ b/src/hyperion/experiment_plans/flyscan_xray_centre_plan.py
@@ -12,6 +12,7 @@
 from attr import dataclass
 from blueapi.core import BlueskyContext, MsgGenerator
 from dodal.devices.aperturescatterguard import (
+    ApertureInOut,
     AperturePosition,
     ApertureScatterguard,
 )
@@ -383,7 +384,9 @@ def set_aperture_for_bbox_size(
         }
     )
     def set_aperture():
-        yield from bps.abs_set(aperture_device, new_selected_aperture)
+        yield from bps.abs_set(
+            aperture_device, (ApertureInOut.IN, new_selected_aperture)
+        )
 
     yield from set_aperture()
 
diff --git a/src/hyperion/experiment_plans/oav_snapshot_plan.py b/src/hyperion/experiment_plans/oav_snapshot_plan.py
index ac13b5ce7..120bca1ce 100644
--- a/src/hyperion/experiment_plans/oav_snapshot_plan.py
+++ b/src/hyperion/experiment_plans/oav_snapshot_plan.py
@@ -3,7 +3,10 @@
 
 from blueapi.core import MsgGenerator
 from bluesky import plan_stubs as bps
-from dodal.devices.aperturescatterguard import AperturePosition, ApertureScatterguard
+from dodal.devices.aperturescatterguard import (
+    ApertureInOut,
+    ApertureScatterguard,
+)
 from dodal.devices.backlight import Backlight, BacklightPosition
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVParameters
@@ -41,7 +44,7 @@ def setup_oav_snapshot_plan(
     )
     yield from bps.abs_set(
         composite.aperture_scatterguard,
-        AperturePosition.ROBOT_LOAD,
+        (ApertureInOut.OUT, None),
         group=OAV_SNAPSHOT_SETUP_GROUP,
     )
 
diff --git a/src/hyperion/experiment_plans/robot_load_then_centre_plan.py b/src/hyperion/experiment_plans/robot_load_then_centre_plan.py
index 0bb840145..22e1b7209 100644
--- a/src/hyperion/experiment_plans/robot_load_then_centre_plan.py
+++ b/src/hyperion/experiment_plans/robot_load_then_centre_plan.py
@@ -8,7 +8,7 @@
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 from blueapi.core import BlueskyContext, MsgGenerator
-from dodal.devices.aperturescatterguard import AperturePosition, ApertureScatterguard
+from dodal.devices.aperturescatterguard import ApertureInOut, ApertureScatterguard
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.backlight import Backlight
 from dodal.devices.dcm import DCM
@@ -130,7 +130,7 @@ def take_robot_snapshots(oav: OAV, webcam: Webcam, directory: Path):
 def prepare_for_robot_load(composite: RobotLoadThenCentreComposite):
     yield from bps.abs_set(
         composite.aperture_scatterguard,
-        AperturePosition.ROBOT_LOAD,
+        (ApertureInOut.OUT, None),
         group="prepare_robot_load",
     )
 
diff --git a/tests/conftest.py b/tests/conftest.py
index 443197f41..5773d86c0 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -21,11 +21,9 @@
 )
 from dodal.common.beamlines.beamline_utils import clear_devices
 from dodal.devices.aperturescatterguard import (
-    ApertureFiveDimensionalLocation,
+    ApertureConfigData,
     AperturePosition,
     ApertureScatterguard,
-    ApertureScatterguardTolerances,
-    SingleAperturePosition,
 )
 from dodal.devices.attenuator import Attenuator
 from dodal.devices.backlight import Backlight
@@ -186,7 +184,7 @@ def _pass_on_mock(value, **kwargs):
 
 
 def patch_async_motor(
-    motor: Motor, initial_position=0, call_log: MagicMock | None = None
+    motor: Motor, initial_position: float = 0, call_log: MagicMock | None = None
 ):
     set_mock_value(motor.user_setpoint, initial_position)
     set_mock_value(motor.user_readback, initial_position)
@@ -451,45 +449,16 @@ def thawer(RE) -> Generator[Thawer, Any, Any]:
 
 
 @pytest.fixture
-def aperture_scatterguard(RE):
-    positions = {
-        AperturePosition.LARGE: SingleAperturePosition(
-            location=ApertureFiveDimensionalLocation(0, 1, 2, 3, 4),
-            name="Large",
-            GDA_name="LARGE_APERTURE",
-            radius_microns=100,
-        ),
-        AperturePosition.MEDIUM: SingleAperturePosition(
-            location=ApertureFiveDimensionalLocation(5, 6, 2, 8, 9),
-            name="Medium",
-            GDA_name="MEDIUM_APERTURE",
-            radius_microns=50,
-        ),
-        AperturePosition.SMALL: SingleAperturePosition(
-            location=ApertureFiveDimensionalLocation(10, 11, 2, 13, 14),
-            name="Small",
-            GDA_name="SMALL_APERTURE",
-            radius_microns=20,
-        ),
-        AperturePosition.ROBOT_LOAD: SingleAperturePosition(
-            location=ApertureFiveDimensionalLocation(15, 16, 2, 18, 19),
-            name="Robot_load",
-            GDA_name="ROBOT_LOAD",
-            radius_microns=None,
-        ),
-    }
+def aperture_scatterguard(RE, beamline_parameters):
     with patch(
-        "dodal.beamlines.i03.load_positions_from_beamline_parameters",
-        return_value=positions,
-    ), patch(
-        "dodal.beamlines.i03.load_tolerances_from_beamline_params",
-        return_value=ApertureScatterguardTolerances(0.1, 0.1, 0.1, 0.1, 0.1),
+        "dodal.beamlines.i03.ApertureConfigData",
+        return_value=ApertureConfigData(beamline_parameters),
     ):
         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._aperture.z, 15.8),
         patch_async_motor(ap_sg._scatterguard.x),
         patch_async_motor(ap_sg._scatterguard.y),
     ):
diff --git a/tests/system_tests/hyperion/test_aperturescatterguard_system.py b/tests/system_tests/hyperion/test_aperturescatterguard_system.py
index acd425fa5..9d61f9af1 100644
--- a/tests/system_tests/hyperion/test_aperturescatterguard_system.py
+++ b/tests/system_tests/hyperion/test_aperturescatterguard_system.py
@@ -3,11 +3,7 @@
     BEAMLINE_PARAMETER_PATHS,
     GDABeamlineParameters,
 )
-from dodal.devices.aperturescatterguard import (
-    ApertureScatterguard,
-    load_positions_from_beamline_parameters,
-    load_tolerances_from_beamline_params,
-)
+from dodal.devices.aperturescatterguard import ApertureConfigData, ApertureScatterguard
 from ophyd_async.core import DeviceCollector
 
 
@@ -18,8 +14,7 @@ def ap_sg():
         ap_sg = ApertureScatterguard(
             prefix="BL03S",
             name="ap_sg",
-            loaded_positions=load_positions_from_beamline_parameters(params),
-            tolerances=load_tolerances_from_beamline_params(params),
+            configuration_data=ApertureConfigData(params),
         )
     return ap_sg
 
diff --git a/tests/unit_tests/device_setup_plans/test_manipulate_sample.py b/tests/unit_tests/device_setup_plans/test_manipulate_sample.py
index 91ebb958e..d3fb21f32 100644
--- a/tests/unit_tests/device_setup_plans/test_manipulate_sample.py
+++ b/tests/unit_tests/device_setup_plans/test_manipulate_sample.py
@@ -2,6 +2,7 @@
 
 from bluesky.run_engine import RunEngine
 from dodal.devices.aperturescatterguard import (
+    ApertureInOut,
     AperturePosition,
     AperturePositionGDANames,
     ApertureScatterguard,
@@ -19,9 +20,7 @@ async def test_move_aperture_goes_to_correct_position(
                 aperture_scatterguard, AperturePositionGDANames.LARGE_APERTURE
             )
         )
-        mock_set.assert_called_once_with(
-            AperturePosition.LARGE,
-        )
+        mock_set.assert_called_once_with((ApertureInOut.IN, AperturePosition.LARGE))
 
 
 async def test_move_aperture_does_nothing_when_none_selected(
diff --git a/tests/unit_tests/experiment_plans/test_flyscan_xray_centre_plan.py b/tests/unit_tests/experiment_plans/test_flyscan_xray_centre_plan.py
index d87a5c058..5bc1005d7 100644
--- a/tests/unit_tests/experiment_plans/test_flyscan_xray_centre_plan.py
+++ b/tests/unit_tests/experiment_plans/test_flyscan_xray_centre_plan.py
@@ -2,7 +2,7 @@
 import types
 from pathlib import Path
 from typing import Tuple
-from unittest.mock import DEFAULT, MagicMock, call, patch
+from unittest.mock import ANY, DEFAULT, MagicMock, call, patch
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
@@ -238,7 +238,7 @@ def test_read_hardware_for_ispyb_updates_from_ophyd_devices(
             "name": "Small",
             "GDA_name": "SMALL_APERTURE",
             "radius_microns": 20,
-            "location": (10, 11, 2, 13, 14),
+            "location": ANY,
         }
         fake_fgs_composite.s4_slit_gaps.xgap.user_readback.sim_put(xgap_test_value)  # type: ignore
         fake_fgs_composite.s4_slit_gaps.ygap.user_readback.sim_put(ygap_test_value)  # type: ignore
diff --git a/tests/unit_tests/experiment_plans/test_grid_detect_then_xray_centre_plan.py b/tests/unit_tests/experiment_plans/test_grid_detect_then_xray_centre_plan.py
index 8f7810c64..c906095a9 100644
--- a/tests/unit_tests/experiment_plans/test_grid_detect_then_xray_centre_plan.py
+++ b/tests/unit_tests/experiment_plans/test_grid_detect_then_xray_centre_plan.py
@@ -7,7 +7,7 @@
 from bluesky.run_engine import RunEngine
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from dodal.beamlines import i03
-from dodal.devices.aperturescatterguard import AperturePosition
+from dodal.devices.aperturescatterguard import ApertureInOut, AperturePosition
 from dodal.devices.backlight import BacklightPosition
 from dodal.devices.eiger import EigerDetector
 from dodal.devices.oav.oav_detector import OAVConfigParams
@@ -150,7 +150,9 @@ async def test_detect_grid_and_do_gridscan(
         )
 
         # Check aperture was changed to SMALL
-        mock_aperture_scatterguard.assert_called_once_with(AperturePosition.SMALL)
+        mock_aperture_scatterguard.assert_called_once_with(
+            (ApertureInOut.IN, AperturePosition.SMALL)
+        )
 
         # Check we called out to underlying fast grid scan plan
         mock_flyscan_xray_centre_plan.assert_called_once_with(ANY, ANY)
diff --git a/tests/unit_tests/experiment_plans/test_rotation_scan_plan.py b/tests/unit_tests/experiment_plans/test_rotation_scan_plan.py
index f832733d0..cc30b1770 100644
--- a/tests/unit_tests/experiment_plans/test_rotation_scan_plan.py
+++ b/tests/unit_tests/experiment_plans/test_rotation_scan_plan.py
@@ -7,7 +7,11 @@
 import pytest
 from bluesky.run_engine import RunEngine
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
-from dodal.devices.aperturescatterguard import AperturePosition, ApertureScatterguard
+from dodal.devices.aperturescatterguard import (
+    ApertureInOut,
+    AperturePosition,
+    ApertureScatterguard,
+)
 from dodal.devices.backlight import BacklightPosition
 from dodal.devices.oav.oav_parameters import OAVParameters
 from dodal.devices.smargon import Smargon
@@ -422,7 +426,7 @@ def test_rotation_scan_moves_aperture_in_backlight_out_after_snapshots_before_ro
         msgs,
         lambda msg: msg.command == "set"
         and msg.obj.name == "aperture_scatterguard"
-        and msg.args[0] == AperturePosition.SMALL
+        and msg.args[0] == (ApertureInOut.IN, AperturePosition.SMALL)
         and msg.kwargs["group"] == "setup_senv",
     )
     msgs = assert_message_and_return_remaining(
@@ -509,7 +513,7 @@ def test_rotation_snapshot_setup_called_to_move_backlight_in_aperture_out_before
         msgs,
         lambda msg: msg.command == "set"
         and msg.obj.name == "aperture_scatterguard"
-        and msg.args[0] == AperturePosition.ROBOT_LOAD
+        and msg.args[0] == (ApertureInOut.OUT, None)
         and msg.kwargs["group"] == OAV_SNAPSHOT_SETUP_GROUP,
     )
     msgs = assert_message_and_return_remaining(
diff --git a/tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py b/tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py
index 0ab146979..ffbcacc87 100644
--- a/tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.py
+++ b/tests/unit_tests/experiment_plans/test_wait_for_robot_load_then_centre.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 AperturePosition
+from dodal.devices.aperturescatterguard import ApertureInOut
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.smargon import StubPosition
 from dodal.devices.webcam import Webcam
@@ -286,7 +286,7 @@ 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(AperturePosition.ROBOT_LOAD)  # type: ignore
+    aperture_scatterguard.set.assert_called_once_with((ApertureInOut.OUT, None))  # type: ignore
 
 
 @patch(