Hydraulic control system having swing motor energy recovery

A method of controlling a machine, comprising:

• pressurizing a fluid with a pump;
• directing the pressurized fluid through a motor to move a work tool through an excavation cycle having a dig segment, a swing-to-dump acceleration segment, a swing-to-dump deceleration segment, a dump segment, a swing-to-dig acceleration segment, and a swing-to-dig deceleration segment;
• and
• selectively accumulating fluid that has been discharged from the motor and discharging fluid to the motor during different combinations of the plurality of segments to implement a plurality of modes of operation, wherein:
• during a first of the plurality of modes of operation, the method includes discharging fluid to the motor during the swing-to-dump acceleration segment, accumulating fluid from the motor during the swing-to-dump deceleration segment, discharging fluid to the motor during the swing-to-dig acceleration segment, and accumulating fluid from the motor during the swing-to-dig deceleration segment,
• during a second of the plurality of modes of operation, the method includes discharging fluid to the motor during only the swing-to-dump acceleration segment, accumulating fluid from the motor during the swing-to-dump deceleration segment, and accumulating fluid from the motor during the swing-to-dig deceleration segment,
• during a third of the plurality of modes of operation, the method includes accumulating fluid from the motor during the swing-to-dump deceleration segment, discharging fluid to the motor during only the swing-to-dig acceleration segment, and accumulating fluid from the motor during the swing-to-dig deceleration segment,
• during a fourth of the plurality of modes of operation, the method includes discharging fluid to the motor during only the swing-to-dump acceleration segment, accumulating fluid from the motor during the swing-to-dump deceleration segment, accumulating fluid from the pump during the swing-to-dig acceleration segment, and accumulating fluid from the motor during the swing-to-dig deceleration segment;
• and
• during a fifth of the plurality of modes of operation, the method includes accumulating fluid from the pump during the swing-to-dump acceleration segment, accumulating fluid from the motor during the swing-to-dump deceleration segment, discharging fluid to the motor during the swing-to-dig acceleration segment, and accumulating fluid from the motor during the swing-to-dig deceleration segment.