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In motion system, many types of faults are related with the abnormity of torque signal. A method was presented which was based on the wavelets function. The compactly supported orthonormal wavelets were introduced. Under it, the fault could be detected, and the type of fault could be diagnosed as well. For using convenience, the flow chart of using this method was also offered. On X-Y motion control system, collision experiments were implemented for test the given method. Using the sampled torque signals, the practicability was verified from the clear diagnosis of different types of collisions.