iMPULSE™ Series of Rate Tables

Industrial Inertial Guidance Test and Calibration Systems

Building on 45 years of leadership in motion simulation,
Acutronic is proud to take inertial testing one step further,by offering the all-new line of iMPULSE™ rate tables and its
dedicated digital control system, the ACUTROL® iMPACT™.
The iMPULSE™ series provides robust, modular and flexible
solutions that are perfectly suited to the needs of the modern
industrial environment. These products are designed for thedevelopment and production of single and multi-axis inertialsensors and systems, whether consumer, automotive, ornavigation grade.
Our tables are “Internet-of-Things” / “Industry 4.0”-ready andadapted to serve across a range of R&D or production environments.

Customers can expect Acutronic-quality at a highly attractive
price point.
Our quotes include installation of the system at the customer’sfacility and an extended 3-year warranty period on non-wearparts. Basic systems usually ship within 12 to 20 weeks ofreceipt of order or export license (unless custom features orstandard options, subject to prior sale, are required).
Options related to temperature chambers and slipring upgrades
affect the delivery date.
The new ACUTROL® iMPACT™ controller, available exclusively
with iMPULSE™ rate tables, has already earned customer praisefor its intuitive user interface, compact electronic hardware, andunrivaled cost. Acutronic is pleased to offer annual software
licenses that will offer an extremely attractive entry price, freesoftware support, free updates, and modular functionality thatcan be customized to meet customer needs.

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Revision B

iMPULSE™ GL2™

Two-Axis Rate Table
Specifications: GL2™

Inner Axis

Outer Axis

Angular Freedom
Position Accuracy		 Command resolution		 Repeatability
Rate		Range± 1500 deg/sec (Option: ±3000 deg/sec)± 600 deg/sec (Option: ±1000 deg/sec)(± 100 deg/sec with limited rotation)		 Stability - over 360 deg (≥50deg/sec up to full rate)				
- over 10 deg (5deg/sec ≤ rate ≤ 50 deg/sec)				
- over 1 deg (rate ≤5 deg/sec)

0.0001%0.0036%
0.036%

0.0001%0.0018%0.018%

Mechanical		Wobble		 Orthogonality		 Nominal Load		 Table Top Diameter

continuous+/- 1 arc sec

continuous (Option: limited to +/- 180°)+/- 1 arc sec
0.00001 deg< 1 arc sec<5 arc sec<5 arc sec (Option: <1 arc sec)
Up to 75 kgs
700mm (Option: 850mm without temperature chamber)

Temperature Chamber
Temperature Range
Temp. Ramp Rate, MechanicalTemp. Ramp Rate, LN2-55°C to +125°C (Option: +150°C)+/- 4°C per min. w/o thermal load+/- 5°C per min. (Option: +/- 15°C per min.)Electrical Access Configurations
Basic (2M revolutions)
Premium (20M revolutions)48 lines @ 2A / 240VAC (Option: 100Mbit/s contactless ethernet line)
100 lines @ 2A / 150VDC (Option: 100Mbit/s contactless ethernet line) or
50 lines @ 2A / 150VDC and 4 lines @ 20A / 400VAC(Option: 100Mbit/s contactless ethernet line on demand or 1Gbit/s contactless ethernet line)

Note: the use of basic sliprings is not recommended for high-speed orreal-time applications. Basic sliprings may be subject to higher noise.

2–9© 2022 Acutronic Holding AG. All Rights Reserved.

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Revision B

CodeFeatures & Options: GL2™
Standard product without temperature chamber (TC)- with ACUTROL® iMPACT ™ & standard cabinet- inner axis rate: +/-1500 deg/sec outer axis rate: +/-600 deg/sec- table top diameter of 700mm- slipring with 48 customer lines @ 2A (basic)- outer axis stowlock- measuring adapter (required for PVs)
- extended 3 year Warranty on non-wear parts/mechanical coolingTemperature Chamber Options (select only 1 option)

100
101
200
201
202
203
204
205
206
207
208
209
210
300
301
302
303
304
305
306
307
309
310
311
312
313
314
315
316
317
318
319320321
324
325
326
327
400
401
402
403
404405
406
407
408

500
501600601

Standard
Standard
Standard
Standard
Standard
Standard
Standard

Closed-Loop Mechanical Cooling (requires water supply)
LN2 CoolingSlipring Upgrades / Twistcables (select only 1 option)
Upgrade slipring to 48 lines @ 2A + 100Mbit/s contactless ethernet line (basic)
Upgrade slipring to 100 lines @ 2A (New premium)
Upgrade slipring to 100 lines @ 2A + 100Mbit/s contactless ethernet line (New premium)
Upgrade slipring to 50 lines @ 2A and 4 lines @ 20A (New premium)
Upgrade slipring to 50 lines @ 2A and 4 lines @ 20A + 1Gbit/s contactless ethernet line (premium)
Outer axis twistcable and inner axis slipring with 48 lines (basic)*
Outer axis twistcable and inner axis slipring with 48 lines + 100Mbit/s contactless ethernet line (basic)*
Outer axis twistcable and inner axis slipring with 100 lines (New premium)*
Outer axis twistcable and inner axis slipring with 100 lines + 100Mbit/s contactless ethernet line (New premium)*
Outer axis twistcable and inner axis slipring with 54 lines (New premium)*
Outer axis twistcable and inner axis slipring with 54 + 1Gbit/s contactless ethernet line (premium)*
FeaturesUpgrade to table top diameter 850mm (without TC only)
Upgrade peak rate to IA: +/-3000 deg/sec and OA:+/-1000 deg/sec (with premium slipring, limited to 10M revs.)
Upgrade orthogonality to <1 arc sec
Brake on OA
Limitation on OA (always included with twistcables)*Base plate
North alignment
Dual Door Safety cage (purchase w/o safety cage only possible w/ approved enclosure, wiring & conformity assurance)
GUI PC
Remote emergency stop button
Remote pilot box
Setup modePower supply transformer for USA 115V/3x200V (without TC)
Power supply transformer for USA 115V/3x200V
TC policeman regulator
Temperature gradient of 15°C/min (only available with LN2 Cooling, min. 5 bar pressure)
Maximum temperature of 150°C
Mechanical cooling unit modified for chiller (only available w/ option 100)
Mechanical cooling INDOOR chiller (only available w/ option 318)
Proportional Valve for Mechanical Cooling (w/ option 100)
Proportional Valve for LN2 Cooling (w/ option 101)
Modification of GL2 for Airdryer (only compatible w/ option 203)
Mechanical cooling OUTDOOR chiller (only available w/ option 318)
Airdryer assembly (only available w/ option 324)
60Hz conversion kit (only available w/ option 100)
Wear Parts (not covered by Warranty)
Inner axis slipring with 48 lines @ 2A (basic)
Outer axis slipring with 48 lines @ 2A (basic) including Power slipring capsule
Inner axis slipring with 100 lines @ 2A (New premium)
Outer axis slipring with 100 lines @ 2A (New premium)
Inner axis slipring with 54 lines (New premium)
Outer axis slipring with 54 lines (New premium)
Inner axis slipring with 54 lines + 1Gbit/s contactless ethernet line (premium)
Outer axis slipring with 54 lines + 1Gbit/s contactless ethernet line (premium)
Additional wear parts (incl. drivepack bearings; fan bearings; TC hinges; door knobs; door seals; refrigerant valves; cooling unit dryer;
cooling unit filters; electrical relays, switches, buttons).
Services
Factory acceptance test (FAT)
Servo-optimization for customer load (price per load, during installation/CAT)
Custom Features
Customized slipring (premium)
Customized tabletop

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OptionOptionUpon Request
Upon Request
3–9© 2022 Acutronic Holding AG. All Rights Reserved.

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Revision B

ACUTROL® iMPACT™

Industrial Multi-Axis Digital Motion Control System
Available exclusively with our iMPULSE™ rate tables, the new iMPACT™ controller brings the ACUTROL® series into the Industrial“Internet-of-Things” / “Industry 4.0” era. The leading motion control system for high precision single and multi-axis inertial guidance,electro-optic test systems and stabilized platforms now comes with industrial grade components and modelgenerated software.
The iMPACT™ controller offers a robust, modular and flexible control architecture. It is compatible with the well-established andtime-tested ACUTROL® Control Language (ACL).
Industrial• Industrial interconnected EtherCAT modules for flexibility andreliability• Payload Wizard for ease of servo compensation• Health and Usage Monitoring Systems (HUMS)• Industrial security monitoring systems• Remote access to simulator via Local (LAN) or Wide (WAN)
Area Network• In-application support (offline help)
Modular Packages• Controller features can be scaled according to user needs.
Expert level features include:• State of the art, embedded Data Logger• Integrated temperature chamber controller• Optional touch screen display
Performance• Compensation of deterministic cogging and position errors
resulting in high position accuracy and smooth rate
performance• EtherCAT: High speed and low jitter Ethernet-based real-timefieldbus system• Synchronous axis control• Motion profile previsualisation

ACUTROL® Heritage• Compatible with the ACUTROL® Control Language (ACL)• Intuitive Windows 10 GUI with user-friendly access to menus,
operator inputs, control and security features• Asynchronous control in remote operation• Adaptable servo topology, including freely configurable digital
filters allowing customized control strategies to match theapplication• System optimization for different payloads• Look-up tables for error correction
Customization• Tabs can be configured, organized and optimized according tothe user experience• Customizable analog inputs and outputs• Software examples for developers (LabVIEW, C++ and Matlab)
Technology• EtherCAT communication digitalizes the transmission of signals,
making the system more robust and easier to maintain• Software based on LabVIEW and Simulink guarantees stability,quality and expandability

8–9© 2022 Acutronic Holding AG. All Rights Reserved.

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Revision B

CodeFeatures & Options: iMPACT™
License Options
Annual Subscription License (payable at the end of every 12-month period)

10

Basic Annual License, starting 12 months after delivery (incl. software support & updates)

11

Basic and Advanced Annual License for all Features (at the time of system installation, incl. software support & updates)

12

Upgrade from Basic to Basic+Advanced License (during the lifetim of the system)
Lifetime License (payable 1 time, upfront)

20

Basic Lifetime License (incl. software support & updates during the first 12 months after delivery only)

21

Lifetime License for all Basic and Advanced Features (at the time of system delivery)

22

Lifetime License for all Basic and Advanced Features (at the time of system delivery) with annual software update

23

Annual software support & updates, starting 12 months after delivery

Software Features (all advanced features are activated for the trial mode of 90 days)
Basic Features
30

Drive Enable: allows enabling of the servo drives (interlock close)

31

Position Mode is a primary mode of motion

32

Velocity Mode is a primary mode of motion

33

Sine Mode is a secondary mode motion (legacy synthesis mode)

34

G-Mode is a primary mode of motion designed for centrifuge applications - Automatic boom arm compensation is included
Advanced Features (some SW features require hardware - see below)

40

Analog Output: enables the use of two configurable analog outputs per system if available

41

Demand Summing: summing of primary modes of motion with internal or external motion command (if analog input is available)

42

Event Pulse: enables the programmable, configurable pulse for synchronization or measurement purposes

43

Datalogger: datalog and export the controller's variable to a file for Excel, Matlab or Labview

44

Payload Change Wizzard: measures and adjusts automatically the inertia of the customer's payload

45

Temperature Controller Interface: use ACL commands for Setpoint and Fan speed control

46

GPIB: enables the GPIB interface if available

47

ACL Macro : use ACUTROL3000 syntax to generate macros (motion sequences) on the iMPACT GUI

48

G-Mode for rate table: enables primary mode of motion on GM1/GL1 or inner axis of GL2 Series

49

RS-232: enables the RS-232 Interface if available

50

VMIC: enables the VMIC Reflective Memory Interface if available (will be released in 2022)

80

Analog Input/Output: D-sub connector located at the base of the iMPACT cabinet; required for Features 40 and 41

81

GPIB Interface: USB to IEEE 488 converter located at the base of the iMPACT cabinet; required for Feature 46

82

RS-232 Interface: Ethernet to RS converter located at the base of the iMPACT cabinet; required for Feature 49

83

I/O BNC Panel

84

VMIC Interface: required for Feature 50 (will be released in 2022)

Hardware (The Software License has to be selected separately)Special Software95System Emulator: a simulation software to emulate the rate table’s behavior and response, for development and training purpose

Acutronic Switzerland Ltd
Rosengartenstrasse 258608 Bubikon
Switzerlandphone: +41 55 253 55 55
fax: +41 55 253 55 56
sales@acutronic.ch

Acutronic USA Inc.
700 Waterfront Drive
Pittsburgh, PA 15222-4742
USA
phone: 412 926 1200
fax: 412 697 8111
sales@acutronic.com

Acutronic Deutschland GmbH
Robert Bosch Strasse 7, 64293
Darmstadt, Germany
Phone: +49 6151 93 73 2 34
sales@acutronic.ch

Acutronic India Pvt. Ltd.
Near Indian Oil Petrol bunkPlot No. 7/A, Phase -5
IDA Cherlapally, Hyderabad
500051, Telangana, India
Phone: +91 9553 682 851
sales@acutronic.ch9–9© 2022 Acutronic Holding AG. All Rights Reserved.

www.acutronic.com

Revision B