How many timers at one time

[kiciek]

I want to make DC servocontroller on Kinetis K40 (i have MK40N512VLK10). Can i use two quadrature decoders (one as source signal and one from encoder) and PWM output with dead times at same time? What about controller for two motors - two STEP/DIR sources, two encoders, and two outputs?

[egoodii]

From your brief description, it sounds like you should be able to use FTM0 as your PWM source, and FTM1 and FTM2 each as quadrature-encoder counters.  I'm not clear what your 'two motor' setup requires.