  We show that invariance properties of the Lagrangian of an incommensurate
system, as described by the Frenkel Kontorova model, imply the existence of a
generalized angular momentum which is an integral of motion if the system
remains floating. The behavior of this quantity can therefore monitor the
character of the system as floating (when it is conserved) or locked (when it
is not). We find that, during the dynamics, the non-linear couplings of our
model cause parametric phonon excitations which lead to the appearance of
Umklapp terms and to a sudden deviation of the generalized momentum from a
constant value, signalling a dynamical transition from a floating to a pinned
state. We point out that this transition is related but does not coincide with
the onset of sliding friction which can take place when the system is still
floating.
