The Compact UMAC modular rack format system controlled by Delta Tau's longstanding workhorse controller, the Turbo PMAC, in a more compact format than the standard UMAC, useful for certain applications. Built for OEMs and high-volume applications, Delta Tau’s Compact UMAC systems provide a compact and clean integration of motion and I/O control. Similar to the UMAC system, the Compact UMAC consists of a modular set of 3U-boards in a similar Compact PCI (CPCI) format, implementing Turbo PMAC2 software and hardware functions, communicating with each other over a common backplane (the Compact UBUS). All field wiring is available on rear connectors, suitable for a user-designed distribution system to the machine providing integrated connectivity as well as ease of assembly, diagnostics, and repair. Because the backplane is different on the Compact UMAC, only a certain set of accessories specifically designed for the CPCI backplane can be used with this rack; i.e. the accessories compatible with Compact UMAC are not compatible with any other UMAC format.