I have a Haier HLP23E portable washer. It fills and empties, but won't agitate or spin and there is a burning rubber smell.

Motor bearings or tub bearings.

check / replace the start run capacitor for the motor
have a electrician do it or a service technician if you do not recognize it
it is normally up near the control panel

check motor

It's a whirlpool top load and 17 years old.
I checked the lid switch, water level switch and they are okay. I replaced the motor coupling. The old one was chewed up and crumbling.
When I put everything back together and turned it on to check if it would spin, I heard a buzzing sound and after a few minutes there was a burning smell.
What should I check to diagnose this problem? would help to have make or model numbers to show age of machine

see this causes and fix it. God bless you
Motor Coupling If the washer won't spin or agitate the motor coupling might have failed. The motor coupling connects the motor to the washer transmission. It is designed to fail if the washer is overloaded in order to protect both the motor and
Drive Belt If the washer won't spin or agitate, check the drive belt. If the belt is broken or if it isn't tight on the pulleys the washer won't spin or agitate properly.

Drive Motor If the washer won't spin or agitate the drive motor might be defective. This is not common. Check all of the other related parts to this symptom before replacing the motor. If the motor is visibly burned out or physically damaged, replace it.

Stator Assembly If the washer won't spin or agitate the stator assembly might be burned out. The stator is essentially one half of a motor, it interacts with the tub by creating a strong electro-magnet. If the stator burns out the washer won't spin or agitate. Check the stator for continuity. This part is often misdiagnosed.

Door or Lid Latch Assembly If the washer won't spin or agitate the lid switch assembly might be defective. This is a very common problem. The lid switch assembly can fail either mechanically or electrically. Test any electrical switches with an Ohm meter for continuity. The switches should have continuity according to their design.

Door Lock Motor and Switch Assembly If the washer won't spin or agitate the door lock assembly should be checked. The door lock can fail either mechanically or electrically. Test any switches on the door lock with an Ohm meter. The switches should have continuity according to their design.

Motor Control Board If the washer won't spin or agitate the motor control board might be defective. The motor control board provides power to the motor as well as direction and force. If the motor control board is defective the washer may not work at all or function properly.

Hey rosedunn i have the same problem :( ... So what you do with yours???thansk

you have a direct drive washer with a coupling broke.Here is a good article on it http://repair2000.com/coupling.html

HLP21E Haier Portable washing machine will not spin and drain water

could be belts slipping or a bad motor going - what's it smell like - burning rubber or an electrical smell?