Method for teaching the control function of hydrostatic motors when in drive mode

A method for teaching a control function of a hydrostatic motor of a traction drive of a work machine when in a drive mode, the traction drive provided with the hydrostatic motor and a hydrostatic pump that is hydraulically connected to the hydrostatic motor, the method comprising:

• using a control function, setting a pivot angle of the hydrostatic motor based on a desired velocity of the work machine when in the drive mode;
• checking whether predefined conditions are met;
• and
• when (i) the predefined conditions are met, and (ii) a current velocity differs from the desired velocity, correcting the control function of the hydrostatic motor according to a difference between the desired velocity and the current velocity, the correcting of the control function including learning at least one value of the corrected control function of the hydrostatic motor,
• wherein one of the predefined conditions is that a pressure measured in a system including the work machine does not exceed a limit value.

A method for teaching a control function of a hydrostatic motor of a traction drive of a work machine when in a drive mode, the traction drive provided with the hydrostatic motor and a hydrostatic pump that is hydraulically connected to the hydrostatic motor, the method comprising:

• using a control function, setting a pivot angle of the hydrostatic motor based on a desired velocity of the work machine when in the drive mode;
• checking whether predefined conditions are met;
• and
• when (i) the predefined conditions are met, and (ii) a current velocity differs from the desired velocity, correcting the control function of the hydrostatic motor according to a difference between the desired velocity and the current velocity, the correcting of the control function including learning at least one value of the corrected control function of the hydrostatic motor,
• wherein one of the predefined conditions is that the desired velocity is at least 90% of a maximum velocity of the work machine.

A method further for teaching a control function of a hydrostatic motor of a traction drive of a work machine when in a drive mode, the traction drive provided with the hydrostatic motor and a hydrostatic pump that is hydraulically connected to the hydrostatic motor, the method comprising:

• using a control function, setting a pivot angle of the hydrostatic motor based on a desired velocity of the work machine when in the drive mode;
• driving the hydrostatic pump by a drive motor;
• checking whether predefined conditions are met;
• and
• when (i) the predefined conditions are met, and (ii) a current velocity differs from the desired velocity, correcting the control function of the hydrostatic motor according to a difference between the desired velocity and the current velocity, the correcting of the control function including learning at least one value of the corrected control function of the hydrostatic motor,
• wherein one of the predefined conditions is that a velocity of the drive motor is higher than a predefined velocity that is required for a maximum velocity of the work machine according to a predefined adjustment angle of the hydrostatic motor.