Control system and method to detect clutch slippage

A control system comprising:

• a motor assembly comprising:
• a motor associated with an input shaft and a first encoder configured to determine a measure of rotation of the input shaft;
• and
• an output shaft and a second encoder configured to determine a measure of a rotation of the output shaft, wherein the output shaft is rotatably coupled to the input shaft associated with the motor via a clutch;
• and
• a controller configured to identify slippage of the clutch based upon the measures of rotation provided by the first and second encoders.

A method of identifying slippage of a clutch comprising:

• with the clutch, causing an output shaft to alternately engage an input shaft associated with a motor so as to rotate therewith and to be rotatably disengaged from the input shaft associated with the motor;
• separately determining a measure of rotation of the input shaft associated with the motor with a first encoder and a measure of rotation of the output shaft with a second encoder;
• and
• identifying slippage of the clutch based upon the measures of rotation provided by the first and second encoders regarding the input shaft and the output shaft, respectively.