Motor control of surgical stapler with pausing in response to speed error

A surgical stapler comprising:

• a firing assembly configured to translate along a longitudinal axis such that translation of the firing assembly in a distal direction 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:
• output a motor drive signal to the motor assembly such that the motor drive signal is configured to dynamically adjust power to the motor assembly to drive the firing assembly to a target speed during a firing stroke,
• execute a first control loop during the firing stroke in which the speed control circuit is configured to initiate a pause during the firing stroke in response to a detection of an excess power condition in which an actual power to the motor assembly is greater than a power threshold, and
• execute a second control loop during the firing stroke in which the speed control circuit is configured to initiate a pause during the firing stroke in response to a detection of a speed error condition in which an actual speed of the firing assembly is less than a speed threshold that is less than the target speed, wherein the second control loop is distinct from the first control loop.