yes AT89c52 has timer 2, so would you tell me about the solution that you have seen.

2) maybe the best solution is to get hold of a derivative with a PCA as you said but the problem is that i have designed Evaluation Board to as control uint for my robot using this type of microcontroller.
so can u tell me which kind of MCU that has the same pin configuarion as AT89c52. beacuse i couldent find 87C51FA here in my country.

Albarkani