hi richard, i understand. The 31-479 possible pulses of y for every 400 pulses of x are for me necessary, it's impossible for me to change those three parameters. i know it's a problem of "times", they are like two "digital gears" and i must find the way to match the reciprocal "teeth". The frequency of x now is 1666 hz (240.000uS) but the x motor accept other frequencies too. More difficult for me is understand interrupts, overflow, ticks, to find my way and the possible solution