A surgical system comprising: a patient side cart ; a motor ; and a telesurgically operated instrument , the telesurgically operated instrument coupled to the patient side cart and comprising a transmission and a surgical end effector having a plurality of end effector components, the transmission being driven by the motor and comprising: a first effector drivetrain comprising: a first gear ; a first input gear; a first rocker arm; and a first locker arm; a camshaft defining a longitudinal axis, the camshaft comprising: a first power cam; and a first locker cam; a primary input gear configured to engage with the first effector drivetrain ; and an idler gear configured to engage with the primary input gear and the first input gear; wherein the motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft , and wherein in a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first rocker arm, wherein the engagement between the first power cam and the first rocker arm causes the first input gear to engage with the first gear , and wherein the first locker cam is configured to disengage the first locker arm from the first gear . a patient side cart ; a motor ; and a telesurgically operated instrument , the telesurgically operated instrument coupled to the patient side cart and comprising a transmission and a surgical end effector having a plurality of end effector components, the transmission being driven by the motor and comprising: a first effector drivetrain comprising: a first gear ; a first input gear; a first rocker arm; and a first locker arm; a camshaft defining a longitudinal axis, the camshaft comprising: a first power cam; and a first locker cam; a primary input gear configured to engage with the first effector drivetrain ; and an idler gear configured to engage with the primary input gear and the first input gear; wherein the motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft , and wherein in a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first rocker arm, wherein the engagement between the first power cam and the first rocker arm causes the first input gear to engage with the first gear , and wherein the first locker cam is configured to disengage the first locker arm from the first gear . a first effector drivetrain comprising: a first gear ; a first input gear; a first rocker arm; and a first locker arm; a first gear ; a first input gear; a first rocker arm; and a first locker arm; a camshaft defining a longitudinal axis, the camshaft comprising: a first power cam; and a first locker cam; a first power cam; and a first locker cam; a primary input gear configured to engage with the first effector drivetrain ; and an idler gear configured to engage with the primary input gear and the first input gear; wherein the motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft , and wherein in a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first rocker arm, wherein the engagement between the first power cam and the first rocker arm causes the first input gear to engage with the first gear , and wherein the first locker cam is configured to disengage the first locker arm from the first gear . <EOS>