Methods of operating a surgical instrument or a subsystem thereof

A method of operating a closure subsystem of a surgical instrument, the method comprising:

• engaging a first closure input puck with a first closure robotic output;
• rotating the first closure robotic output to cause the first closure input puck to rotate, and continuing to rotate the first closure robotic output until a predetermined threshold indicator is detected;
• rotating a cam gear via the rotation of the first closure input puck;
• and
• rotating, in response to the predetermined threshold indicator being detected, the first closure robotic output to a predetermined home position,
• wherein rotation of the cam gear causes a yoke pin to track through a cam track in the cam gear, the yoke pin being directly or indirectly coupled to a closure tube,
• wherein tracking of the yoke pin through the cam track causes the yoke pin to translate from a first position to a second position, thereby translating the closure tube,
• wherein the predetermined threshold indicator is detected when the yoke pin is positioned within a constant force region of the cam track;
• and
• wherein the yoke pin is positioned at an open position of the cam track when the first closure robotic output is in the predetermined home position.