diff --git a/kuka_sunrise_fri_driver/src/hardware_interface.cpp b/kuka_sunrise_fri_driver/src/hardware_interface.cpp
index 61902efe..dab061e0 100644
--- a/kuka_sunrise_fri_driver/src/hardware_interface.cpp
+++ b/kuka_sunrise_fri_driver/src/hardware_interface.cpp
@@ -472,6 +472,10 @@ void KukaFRIHardwareInterface::activateFrictionCompensation(double * values) con
     {
       values[i] -= (values[i] / fabs(values[i]) * 0.1);
     }
+    else
+    {
+      values[i] -= 0.1;
+    }
   }
 }