diff --git a/src/pdftools/xrd.py b/src/pdftools/xrd.py
index dd83826..406236c 100644
--- a/src/pdftools/xrd.py
+++ b/src/pdftools/xrd.py
@@ -8,6 +8,7 @@
 
 import math
 from collections.abc import Mapping, Sequence
+from functools import partial
 from typing import Any
 
 from bluesky import plan_stubs as bps
@@ -19,6 +20,7 @@
     DetectorTrigger,
     StandardDetector,
     TriggerInfo,
+    set_and_wait_for_value,
     soft_signal_rw,
     wait_for_value,
 )
@@ -62,8 +64,18 @@ def ensure_cont_acq_exposure(detector: StandardDetector, exposure_time: float):
         detector.driver.image_mode,
         ADImageMode.CONTINUOUS,
     )
-    # A busy record: waiting on it would block until acquisition stops.
-    yield from bps.abs_set(detector.driver.acquire, True, wait=False)
+    # Acquire's put completes only when acquisition stops: wait on its readback.
+    (started,) = yield from bps.wait_for(
+        [
+            partial(
+                set_and_wait_for_value,
+                detector.driver.acquire,
+                True,
+                wait_for_set_completion=False,
+            )
+        ]
+    )
+    started.result()
 
 
 def _md(
diff --git a/tests/test_xrd.py b/tests/test_xrd.py
index 2830b35..d3b5225 100644
--- a/tests/test_xrd.py
+++ b/tests/test_xrd.py
@@ -4,11 +4,13 @@
 from typing import Any
 
 import pytest
+from bluesky import plan_stubs as bps
 from bluesky.run_engine import RunEngine
 from ophyd_async.core import (
     callback_on_mock_put,
     get_mock_put,
     init_devices,
+    set_mock_put_proceeds,
     set_mock_value,
 )
 from ophyd_async.epics.adcore import ADImageMode, ContAcqDetector
@@ -150,6 +152,60 @@ async def _fault_on_second_point(value):
     assert await fs.status.get_value() == OnOff.ON
 
 
+def _busy_acquire(pe: ContAcqDetector, timed_out: list[bool]) -> None:
+    """Acquire as the IOC runs it: the readback follows after a delay, and the put
+    completes only when acquisition stops."""
+    acquire = pe.driver.acquire
+
+    def _release_after_timeout():
+        timed_out.append(True)
+        set_mock_put_proceeds(acquire, True)
+
+    def _on_put(value, **_):
+        if not value:
+            set_mock_put_proceeds(acquire, True)
+            return None
+        set_mock_put_proceeds(acquire, False)
+        loop = asyncio.get_running_loop()
+        loop.call_later(0.2, set_mock_value, acquire, True)
+        # bound the test if the plan waits on the put rather than the readback
+        loop.call_later(15.0, _release_after_timeout)
+        return False  # the readback has not caught up yet
+
+    callback_on_mock_put(acquire, _on_put)
+
+
+async def test_ensure_cont_acq_exposure_returns_once_the_detector_is_acquiring(
+    RE: RunEngine, pe: ContAcqDetector
+):
+    timed_out: list[bool] = []
+    acquiring: list[bool] = []
+    _busy_acquire(pe, timed_out)
+
+    def _plan():
+        yield from ensure_cont_acq_exposure(pe, 0.3)
+        acquiring.append((yield from bps.rd(pe.driver.acquire)))
+
+    RE(_plan())
+    RE.loop.call_soon_threadsafe(set_mock_put_proceeds, pe.driver.acquire, True)
+    assert acquiring == [True]
+    assert timed_out == []
+
+
+async def test_xrd_scan_after_a_restart_waits_for_the_acquire_readback_not_its_put(
+    RE: RunEngine, pe: ContAcqDetector, fs: FastShutter
+):
+    timed_out: list[bool] = []
+    _busy_acquire(pe, timed_out)
+    with init_devices():
+        det_z = SimMotor(name="det_z", instant=True)
+    docs = _collect(RE, xrd_scan([pe], det_z, 0.0, 1.0, 2, 0.3, shutter=fs))
+    RE.loop.call_soon_threadsafe(set_mock_put_proceeds, pe.driver.acquire, True)
+    assert len(docs["event"]) == 2
+    assert timed_out == []
+    assert await pe.driver.acquire_time.get_value() == 0.3
+
+
 def test_the_shutter_comes_from_the_session_when_not_given(
     RE: RunEngine, pe: ContAcqDetector, monkeypatch: pytest.MonkeyPatch
 ):