An electronically commutated hydraulic machine is coupled to a drivetrain. Working chambers of the hydraulic machine are connected to low and high pressure manifold through electronically controlled valves. The phase of opening and closing of the valves has a default. In order to avoid cycle failure due to acceleration events, for example due to backlash in the drivetrain, the phase of opening or closing of the electronically controlled valves is temporarily advanced or retarded from the default timing.

An electronically commutated hydraulic machine is coupled to a drivetrain. Working chambers of the hydraulic machine are connected to low and high pressure manifold through electronically controlled valves. The phase of opening and closing of the valves has a default. In order to avoid cycle failure due to acceleration events, for example due to backlash in the drivetrain, the phase of opening or closing of the electronically controlled valves is temporarily advanced or retarded from the default timing.

A hydraulic control circuit for a hydraulic motor operable at least at two displacements, having a proportional speed control valve with a control valve spool continuously moveable by means of a force generated by a pilot pressure being controlled by a continuously, electrically adjustable pilot valve having an electrical actuator, wherein the control valve spool is moveable between a full-torque end position, a reduced-torque end position, and at least one intermediate position. A time related control current function is provided for controlling the current applied to the electrical actuator for controlling the pilot pressure including a pre-current portion with a constant non-zero current and a current ramp portion during which the current is raised or lowered continuously from a ramp starting current level to an intermediate current level. The current is changed abruptly to a switching current level at the end of the current ramp portion for allowing the movement of the speed control valve spool from one of the two end positions via the at least one intermediate switching position into the other end position.

A hydraulic control circuit for a hydraulic motor operable at least at two displacements, having a proportional speed control valve with a control valve spool continuously moveable by means of a force generated by a pilot pressure being controlled by a continuously, electrically adjustable pilot valve having an electrical actuator, wherein the control valve spool is moveable between a full-torque end position, a reduced-torque end position, and at least one intermediate position. A time related control current function is provided for controlling the current applied to the electrical actuator for controlling the pilot pressure including a pre-current portion with a constant non-zero current and a current ramp portion during which the current is raised or lowered continuously from a ramp starting current level to an intermediate current level. The current is changed abruptly to a switching current level at the end of the current ramp portion for allowing the movement of the speed control valve spool from one of the two end positions via the at least one intermediate switching position into the other end position.