In this study, a simple and inexpensive method is developed in order to identify viscous and Coulomb frictions in systems with motion limitations. This method is used on a prototype. A series of tests are performed using position profiles with different speeds created according to motion limits in the systems. Using the data obtained from these tests, viscous and Coulomb friction characteristics are identified for both negative and positive motion directions. The method developed can also be used to determine whether the Coulomb friction is position dependent or not and the change of Coulomb friction with the position.