At the end of the day, programming in robots and PLCs is halfway between CNC machine G-Code, and 1970's-era pre-PC computer programming. Sadly, one must adjust one's standards of code snobbery to fit the programming environment.
See you say that, but I stand by the fact that half of the mystery with kuka's just doesn't exist in ABB's because of how user friendly and well documented the code is. Plus you mentioned about complexity, I've been around far more complex stuff in ABB's because, for example how you can build strings and jump the program pointer around in error handlers. Kuka's i can more believe are 1970s era/machine code, than ABB's. Fanuc's well i think they are a pascal derivative aren't they, depending on which of the languages you use there, TP, Karel?