HI!! Good day to all.. I have used the 8051(AT89c51) to control six ervo(or more than that for later). Those i need to generate multipwm. i have used 2 timer to do that previously.. But it is fail due to the inteerupt priority problem.. May i know that anyone at here got the idea to do this?? some example code will be better since that i am new in keil c51.. p/s: i am using assembly language before. Thanks for the help!!!