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A stationary model is adopted to determine the critical condition for which the slipper moves away from the swashplate in an axial piston machine. The aim of the analysis is to find the critical speed, i.e. the value of the machine speed for which the slipper moves away from the swashplate; usually this condition may determine bad operating behaviour of the machine, although a retainer plate is used to maintain the slipper sufficiently near to the swashplate. The influences of the pressure transition in the cylinder, the swashplate angle and the radial clearance between piston and cylinder on the critical speed are depicted. Successively, the role of the position of the point of application of the resultant force due to the slipper-retaining plate contact is analyzed.