A surgical instrument , comprising: a displacement member configured to translate within the surgical instrument over a plurality of predefined zones; a motor coupled to the displacement member to translate the displacement member; a control circuit coupled to the motor; a position sensor coupled to the control circuit, the position sensor configured to monitor a position of the displacement member; a timer circuit coupled to the control circuit, the timer circuit configured to measure elapsed time; wherein the control circuit is configured to: receive, from the position sensor, a position of the displacement member in a current zone of the plurality of zones during a set time interval; and measure displacement of the displacement member at a set time at the end of the set time interval, wherein the measured displacement is defined as the distance traveled by the displacement member during the set time interval at a set command velocity for the current zone; characterised in that the control circuit is configured to: compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; determine whether to adjust or maintain a command velocity of the displacement member for a subsequent zone of the plurality of zones based on the comparison; and set the command velocity of the displacement member for the subsequent zone based on the measured displacement of the displacement member within the current zone. a displacement member configured to translate within the surgical instrument over a plurality of predefined zones; a motor coupled to the displacement member to translate the displacement member; a control circuit coupled to the motor; a position sensor coupled to the control circuit, the position sensor configured to monitor a position of the displacement member; a timer circuit coupled to the control circuit, the timer circuit configured to measure elapsed time; wherein the control circuit is configured to: receive, from the position sensor, a position of the displacement member in a current zone of the plurality of zones during a set time interval; and measure displacement of the displacement member at a set time at the end of the set time interval, wherein the measured displacement is defined as the distance traveled by the displacement member during the set time interval at a set command velocity for the current zone; receive, from the position sensor, a position of the displacement member in a current zone of the plurality of zones during a set time interval; and measure displacement of the displacement member at a set time at the end of the set time interval, wherein the measured displacement is defined as the distance traveled by the displacement member during the set time interval at a set command velocity for the current zone; characterised in that the control circuit is configured to: compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; determine whether to adjust or maintain a command velocity of the displacement member for a subsequent zone of the plurality of zones based on the comparison; and set the command velocity of the displacement member for the subsequent zone based on the measured displacement of the displacement member within the current zone. compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; determine whether to adjust or maintain a command velocity of the displacement member for a subsequent zone of the plurality of zones based on the comparison; and set the command velocity of the displacement member for the subsequent zone based on the measured displacement of the displacement member within the current zone. <EOS>