A surgical instrument , comprising: an end effector ; an articulation member; an articulation joint ; a motor operable to translate the articulation member along a distance from a proximal position to a distal position, wherein the articulation member is translatable relative to the end effector a distance from a proximal position to a distal position, wherein the translation of the articulation member causes the articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition; a control circuit coupled to the motor ; a position sensor coupled to the control circuit , the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and characterised in that the control circuit is configured to: identify a predetermined desired articulated position corresponding to the articulation position of the articulation member; receive position input from the position sensor indicative of a current articulation position of the articulation member; identify the current articulation position corresponding to the articulation position of the articulation member; determine a control action of the motor in response to a current articulation position of the articulation member that does not correspond to the desired articulated position; and control the movement of the articulation member when the current articulation position corresponds to the desired articulated position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition. an end effector ; an articulation member; an articulation joint ; a motor operable to translate the articulation member along a distance from a proximal position to a distal position, wherein the articulation member is translatable relative to the end effector a distance from a proximal position to a distal position, wherein the translation of the articulation member causes the articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition; a control circuit coupled to the motor ; a position sensor coupled to the control circuit , the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and characterised in that the control circuit is configured to: identify a predetermined desired articulated position corresponding to the articulation position of the articulation member; receive position input from the position sensor indicative of a current articulation position of the articulation member; identify the current articulation position corresponding to the articulation position of the articulation member; determine a control action of the motor in response to a current articulation position of the articulation member that does not correspond to the desired articulated position; and control the movement of the articulation member when the current articulation position corresponds to the desired articulated position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition. identify a predetermined desired articulated position corresponding to the articulation position of the articulation member; receive position input from the position sensor indicative of a current articulation position of the articulation member; identify the current articulation position corresponding to the articulation position of the articulation member; determine a control action of the motor in response to a current articulation position of the articulation member that does not correspond to the desired articulated position; and control the movement of the articulation member when the current articulation position corresponds to the desired articulated position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition. <EOS>