CARMENES. IV: instrument control software

The overall purpose of the CARMENES instrument is to perform high-precision measurements of radial velocities of late-type stars with long-term stability. CARMENES will be installed in 2014 at the 3.5 m telescope in the German-Spanish Astronomical Center at Calar Alto observatory (CAHA, Spain) and will be equipped with two spectrographs in the near-infrared and visible windows. The technology involved in such instrument represents a challenge at all levels. The instrument coordination and management is handled by the Instrument Control System (ICS), which is responsible of carrying out the operations of the different subsystems and providing a tool to operate the instrument from low to high user interaction level. The main goal of the ICS and the CARMENES control layer architecture is to maximize the instrument efficiency by reducing time overheads and by operating it in an integrated manner. The ICS implements the CARMENES operational design. A description of the ICS architecture and the application programming interfaces for low-and high-level communication is given. Internet Communications Engine is the technology selected to implement most of the interface protocols.