Hi everyone i'm a new user here and also new into the Staubli robot programming, i have the SRS and i would love to get some documentation to program a RX90b.
Welcome to the forum. Staubli has documentation on all of our arms, controller, software, and some programming examples on our technical database. You do need to sign up for access, but it's free.
Here is a link to the sign up page, http://www.staubli.com/en/robotics/robot-support-data/.
If you have any specific questions please feel free to post them here.