A system for predicting HVAC equipment failure includes an actuator and a controller. The actuator is coupled to the HVAC equipment and configured to drive the HVAC equipment between multiple positions. The actuator includes a processing circuit configured to collect internal actuator data characterizing an operation of the actuator and a communications circuit coupled to the processing circuit. The communications circuit is configured to transmit the internal actuator data outside the actuator. The controller is configured to provide control signals to the actuator and receive the internal actuator data from the actuator. The controller includes a failure predictor configured to use the internal actuator data to predict a time at which the HVAC equipment failure will occur.