A multiturn absolute encoder has a 4-bit main disk and three 3-bit disks for turn counts. What is the resolution of this encoder? 9. Consider a 512 line incremental encoder with quadrature decoder mounted on a motor. Assume that the controller has 2000 kHz sampling rate and uses the 1/T interpolation method with a 1 S timer. What will be the percent velocity estimation error if a one- count error was made in the timer counts? What will be the percent velocity estimation error if the encoder is replaced with another one with 1024 PPR?