Cleaner subsystem fault detection

A method for detecting a stress condition in a cleaning system of an imaging device is provided. The method comprises receiving a pulse-width modulated (PWM) signal. The PWM signal has a duty cycle for driving a PWM servo motor of a cleaning system. A determination is then made whether the duty cycle of the PWM signal indicates that the servo motor is working within design limits. If the duty cycle is within design limits, characteristic adjustments of the duty cycle of the PWM are detected that indicate an occurrence of a non-catastrophic stress condition in the cleaning system. Once a characteristic adjustment of the duty cycle is detected, an alert signal is generated.