Weapons with condition effects have been changed so that they do not inflict Poison, Berserk, Sleep, or Stone when the damage dealt is 0.
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In FE5, weapons with Poison and other condition effects could inflict these conditions when they did no damage as long as they hit. This was probably a design oversight, and was fixed in later series.
I don't know which title this was fixed in because I haven't checked, but at least in the newest FE Engage, Poison cannot be applied when the damage dealt was 0. This is how it should be.