hi Darrel,

thx for ur reply.

i m using 6 servo motors ( may be modified to be 8 ) to control the robotic arm. i read about getting 2 PWM signals from 18f2550 but it didnt help since i need more.

i m sure there is a way to do it. the main problem is the i must not use pause or pausus. i must use timers and interrupts to generate servo signals. but i didnt know how to start. the code i sent you is a good example to do it. i tried it and it works very nice. but i wish i can do it with PBP. any ideas?