Motor control of surgical stapler with controlled impact at end of firing stroke

Non-transitory computer readable medium with instructions thereon, that when executed by a processor of a surgical instrument comprising a motor configured to drive a firing assembly configured to deploy staples from an end effector, are configured to cause the surgical instrument to:

• drive the firing assembly through one or more first zones of a firing stroke;
• detect the firing assembly entering a final distance of the firing stroke that is distal to the one or more first zones;
• decrease a target speed of the firing assembly in response to detecting the firing assembly entering the final distance by adjusting a motor drive signal to the motor;
• and
• intentionally drive the firing assembly through the final distance at least until a distal portion of the firing assembly impacts the end effector at a distal end of the firing stroke.

A powered surgical instrument comprising:

• a firing assembly configured to translate along a longitudinal axis such that translation of the firing assembly in a distal direction, during a firing stroke, is configured to deploy staples from an end effector;
• a motor assembly mechanically coupled to the firing assembly and configured to drive the firing assembly along the longitudinal axis;
• and
• a speed control circuit configured to:
• drive the firing assembly through one or more first zones of a firing stroke,
• detect the firing assembly entering a final distance of the firing stroke that is distal to the one or more first zones,
• decrease a target speed of the firing assembly in response to detecting the firing assembly entering the final distance by adjusting a motor drive signal to the motor assembly, and
• intentionally drive the firing assembly through the final distance at least until a distal portion of the firing assembly impacts the end effector at a distal end of the firing stroke.