Staubli generic questions from a new user

[NewtoKAREL]

Hello, I have a few generic questions about Staubli robots.

1.  What is the language used to write applications for Staubli robots called?  Are there multiple languages used, for example for high level stuff vs low level stuff?

2.  Is there an off-line development software package available or must you have a robot to program?  If yes, is it free or is there a free trial?

3.  What type of coordinate system does the staubli robot use?  (like ABB uses quaternions, FANUC uses Euler angles)

Thanks!

[TygerDawg]

1.  language is called VAL3, as is the operating system
2.  yes, is called VAL3 Studio, is a component of Staubli Robotic Studio (SRS).  Not free, must purchase SRS from Staubli (? ~US$1,500.00 or so?).  But it's worth it, is a good programming environment.  Can do programming offline, can run CS8_Emulator component of SRS to test code logic and debug syntax & formatting errors.
3.  locations in VAL3 are Euler angles {X, Y, Z, RX, RY, RZ}