What you do is play on note then the next and the next starting from the lowest note on the neck in a certain key and keep going untill you reach the highest note in on the neck in that key and then go back down. You can play maybe two notes on the low E then move to the A string and play a note then move to the D string and play 3 notes then move to the G string and play two notes etc.
Thats just an example but just remember to always play a higher note than the last note you played if your going up the scale and always a lower note than you've just played if you are going back down the scale and always end on the highest note when going up the scale and the lowest note when going back down the scale.
Do this for all the different keys.
This should help you get better at making better solo lines from pentatonic scales rather than just going up and down the shapes.
When you've got good at this just try playing the pentatonic scales over some backing track and try and improvise. Eventually you will get use to where the notes are on the neck that you can play !
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