Hi Dave,

I have found the problem on the servo script that was causing the strange behavior, if you look on the datasheet there is a 2 dividing on the PWM freq equation, so the TOP should be 20000 not 40000
that solves everything, and applies to the registers setting. And for the digital servos just divide everything by 6, at least for the Futaba digital servos, dont know other brands digital "codes".
thank you very much for your kind help on this :D