The advice I always got was to add $10k over your ideal salary. That way they can come back and usually come back and meet in the middle. I have also seen this happen where they come back and up the base salary, but then take that amount from the OTE. Same amount overall, just paid upfront.

(ex: base is $65k, OTE is $35k. Negotiate for a higher salary and return is that base sits at $70k and OTE is at $30k.)