I WANT REMOVE index.php from ALL my url...

[eluser]GioMBG[/eluser]
I ALL,
I want remove index.php from all my url but seems impossible:
In my config:
$config['index_page'] = '';
$config['base_url'] = '';
when I load the default controller ok I can do this without index.php but when I tray to load another controller ALWAYS I have to point to the index.php/controller/function (if not 404) but I get another whoole of errors and I can't load correctly as I do without...
ALL the test with full_relative_path was just do.
Suggestions ?
GioMBG