• The notation of a 20-bits encoder represents for its level instead of the number of divisions per revolution, because it communicates with servo motor via communication protocol not pulse signal. • The 2500 ppr encoder, which is an AB-phase encoder, will send out 10000 pulses per revolution. The Encoder Resolution • 17 bits => 160,000 p/r (> 2 17 =131,072) 20 bits => 1,280,000 p/r (> 2 20 =1,048,576) Three Scales of Encoder Resolution