# Types of friction and compensation

## Friction

Friction basically occurs at points of contact between bodies moving relative to one another. It manifests itself as the force that counteracts the motion.

According to Stribeck, the following friction curves result at different velocities:

- Phase 1: Adhesive friction for standstill (boundary friction)
- Phase 2: Mixed friction, Stribeck friction
- Phase 3: Elastohydrodynamic friction

The constant component of friction at velocity v = 0 results in a surge in frictional force at speed reversal resulting in backlash.

Theoretical friction curve
Measured friction curve

## Additional information

- Additive current dependent on velocity
- Parameterisation
- Select and deselect compensation
- Special features of drive parameters