If you work ofen with Stäubli controller (CS8 or CS9) ask to your commercial contact to know the price of Developpement Licence because it's very cheap and unlimited in time.
If you use an external editor like Notepad, be carreful when you add new variable in the XML Files (.dtx in your application directory). Without SRS, i'ts easier to add variable on the teach pendant. save the application...
