There are some manuals and files in Tools section of Stäubli Board.
You can use an ASCII text editor (Win notepad) and a FTP client (FileZilla), or
A FTP enabled text editor (UltraEdit32, NotePad++, jEdit) to write code and get it into bot.
I know that there are substantial differences between Ver3 (plain text) and Ver5 (XML) Stäubli CS8's.
For simulation AND programming you will need SRS (Stäubli Robotics Studio) which is proprietary and obtainable from Stäubli.