A surgical tool and control system therefor is provided. The surgical tool can include an instrument mount configured to engage with a robotic manipulator assembly, which can include a gear assembly configured to be actuated by the robotic manipulator assembly. The surgical tool can include an end effector coupled to the gear assembly, which is configured to be actuated by the gear assembly. The surgical tool can include a lockout configured to transition between a first state in which the lockout is physically engaged with the gear assembly to prevent a movement thereof and a second state in which the lockout is disengaged from the gear assembly. The surgical tool can include a control circuit configured to determine whether the end effector is in an energized state or a de-energized state and in the energized state, cause the lockout to transition between the first state and the second state.