diff --git a/src/hyperion/device_setup_plans/setup_panda.py b/src/hyperion/device_setup_plans/setup_panda.py
index e9a927446..94434cf0b 100644
--- a/src/hyperion/device_setup_plans/setup_panda.py
+++ b/src/hyperion/device_setup_plans/setup_panda.py
@@ -24,6 +24,11 @@ class Enabled(Enum):
     DISABLED = "ZERO"
 
 
+class PcapArm(Enum):
+    ARMED = "Arm"
+    DISARMED = "Disarm"
+
+
 def get_seq_table(
     parameters: PandAGridScanParams,
     exposure_distance_mm,
@@ -154,6 +159,9 @@ def setup_panda_for_flyscan(
 
     yield from bps.abs_set(panda.seq[1].table, table, group="panda-config")
 
+    # Wait here since we need PCAP to be enabled before armed
+    yield from bps.abs_set(panda.pcap.enable, Enabled.ENABLED.value, wait=True)  # type: ignore
+
     yield from arm_panda_for_gridscan(panda, group="panda-config")
 
     yield from bps.wait(group="panda-config", timeout=GENERAL_TIMEOUT)
@@ -163,9 +171,11 @@ def arm_panda_for_gridscan(panda: PandA, group="arm_panda_gridscan"):
     yield from bps.abs_set(panda.seq[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.pulse[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.counter[1].enable, Enabled.ENABLED.value, group=group)  # type: ignore
+    yield from bps.abs_set(panda.pcap.arm, PcapArm.ARMED.value, group=group)  # type: ignore
 
 
 def disarm_panda_for_gridscan(panda, group="disarm_panda_gridscan") -> MsgGenerator:
+    yield from bps.abs_set(panda.pcap.arm, PcapArm.DISARMED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.counter[1].enable, Enabled.DISABLED.value, group=group)  # type: ignore
     yield from bps.abs_set(panda.seq[1].enable, Enabled.DISABLED.value, group=group)
     yield from bps.abs_set(
@@ -173,4 +183,5 @@ def disarm_panda_for_gridscan(panda, group="disarm_panda_gridscan") -> MsgGenera
     )  # While disarming the clock shouldn't be necessery,
     # it will stop the eiger continuing to trigger if something in the sequencer table goes wrong
     yield from bps.abs_set(panda.pulse[1].enable, Enabled.DISABLED.value, group=group)
+    yield from bps.abs_set(panda.pcap.enable, Enabled.DISABLED.value, group=group)  # type: ignore
     yield from bps.wait(group=group, timeout=GENERAL_TIMEOUT)
diff --git a/tests/unit_tests/device_setup_plans/test_setup_panda.py b/tests/unit_tests/device_setup_plans/test_setup_panda.py
index 0e0c4aa41..53c7ecb2e 100644
--- a/tests/unit_tests/device_setup_plans/test_setup_panda.py
+++ b/tests/unit_tests/device_setup_plans/test_setup_panda.py
@@ -58,8 +58,8 @@ def test_setup_panda_performs_correct_plans(mock_load_device):
         "setup", mock_load_device
     )
     mock_load_device.assert_called_once()
-    assert num_of_sets == 7
-    assert num_of_waits == 2
+    assert num_of_sets == 9
+    assert num_of_waits == 3
 
 
 @pytest.mark.parametrize(
@@ -156,5 +156,5 @@ def test_setup_panda_correctly_configures_table(
 # all the blocks which were enabled on setup are also disabled on tidyup
 def test_disarm_panda_disables_correct_blocks():
     num_of_sets, num_of_waits = run_simulating_setup_panda_functions("disarm")
-    assert num_of_sets == 4
+    assert num_of_sets == 6
     assert num_of_waits == 1