A method for determining at least one characteristic value, especially of a suspended driven axis of a machine, is provided, the axis being driven by a rotating drive unit and/or by a linear drive unit. A torque or a force corresponding to the torque acting on the drive unit is measured along a predetermined movement path of the axis. The torque or the force is measured in the forward direction and reverse direction. Energy-conserving moments or energy-conserving forces on the one hand and/or friction-dependent moments or friction-dependent forces on the other hand are determined by computational overlaying of associated torque or force values as the at least one direction-independent characteristic value.