अतालं च सतालं च द्विप्रकारं तदुच्यते । सतालं च ध्रुवाऽर्थेषु निबद्धं सर्वसाधकम् ॥ २९॥
It is said to be of two kinds: without time-measure (a-tāla) and with time-measure (sa-tāla). That which is with time-measure and regularly composed is fully appropriate for the purposes of the Dhruvā.
english translation