Thanks again. Probably least head-ache will be if I buy an independent servo board that connects to uno through i2c and run the servos that way.
Also the original problem improved after I changed library and jumper for M1 to DIG8, so uno does not lock up. However all 3 motors run except m1 does not move. If I take off IR receiver-code, all of them run no problem, so wickeddevice motorshield and library and jumper change is ok but still some interaction with ir-receiver.
I think both m1 pwm and ir receiver interrupt routine use the same timer. I checked ir-receiver code looks like it uses timer-2. Any suggestions?
Sorry for keeping bugging you.