Определить язык программирования

[Nemez]

Приветствую. Подскажите кто знает, что это за язык программирования. Кусок кода взят из файлов предназначенных для работы сварочного робота фирмы Kuka. (Вроде как похож на бэйсик)

&ACCESS  RVO
&COMMENT PLC on control
DEF  SPS ( )
  ;FOLD DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;FOLD BASIS DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  DECL INT WFD_PLUS,WFD_MINUS,OLD_WFD
  ;Automatik extern
  DECL STATE_T STAT
  DECL MODUS_T MODE
  ;ENDFOLD (BASIS DECL)
  ;FOLD USER DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ; Please insert user defined declarations

  ;ENDFOLD (USER DECL)
  ;ENDFOLD (DECLARATIONS)
  ;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;Default value MSG_T 
  $MSG_T={MSG_T: VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] " ",KEY[] " ",PARAM_TYP #VALUE,PARAM[] " ",DLG_FORMAT[] " ",ANSWER 0}
  ;FOLD AUTOEXT INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()
  INTERRUPT ON 91
  $LOOP_MSG[]="                                                            "
  MODE=#SYNC
  $H_POS=$H_POS
  TECH_MOTION=FALSE
  ;Automatik extern
  IF $MODE_OP==#EX THEN
    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
  ENDIF
  ;ENDFOLD (AUTOEXT INIT)
  ;FOLD USER INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  ; Please insert user defined initialization commands

  ;ENDFOLD (USER INIT)
  ;ENDFOLD (INI)

  LOOP
     WAIT FOR NOT($POWER_FAIL)
    ;FOLD ARC20 PLC;%{E}%V3.2.0,%MKUKATPA20,%CSPS,%VSPS,%P
    IF ((ARC20==TRUE) AND (A10_OPTION==#DISABLED)) THEN
      A20_TECH ( )
    ENDIF
    ;ENDFOLD (ARC20 PLC)
    ;FOLD TOUCH PLC;%{E}%V3.2.0,%MKUKATPTS,%CSPS,%VSPS,%P
    IF H70_OPTION THEN
      IF ( NOT ($PRO_ACT) AND FG_ON_WORK AND ($OV_PRO==0)) THEN
        IF (TOUCH_ACTIVE>0) AND (TOUCH_ACTIVE<5) THEN
          IF TOUCH_O[TOUCH_ACTIVE].OUT_NR>0 THEN
            $OUT[TOUCH_O[TOUCH_ACTIVE].OUT_NR]=FALSE
          ENDIF
        ENDIF
        NOTAUS_TOUCH=TRUE ; error flag 
        $OV_PRO=OV_PRO_OLD
      ENDIF
    ENDIF
    ;ENDFOLD (TOUCH PLC)
    ;FOLD GRP PLC;%{E}%V3.2.0,%MKUKATPGRP,%CSPS,%VSPS,%P
    IF (ZANGEN_FUNKT>0) THEN
      H50 (5,AKT_ZANGE,DUMMY,GDEFAULT )
      ZANGEN_FUNKT=0
    ENDIF
    ;ENDFOLD (GRP PLC)
    ;FOLD SPOT PLC;%{E}%V3.2.0,%MKUKATPSPOT,%CSPS,%VSPS,%P
    ;Make your modifications here

    ;ENDFOLD (SPOT PLC)
    ;FOLD USER PLC;%{E}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
    ;Make your modifications here

    ;ENDFOLD (USER PLC)
  ENDLOOP
  ;FOLD ;%{H}
  ;FOLD
END
;ENDFOLD

DEF  A20_TECH ( )
  IF ($PRO_STATE1==#P_STOP) THEN
    A20 (TECH_STOP )
  ENDIF
END

DEF  RESET_OUT ( )
  INT N

  $LOOP_MSG[]="                                                            "
  IF REFLECT_PROG_NR == 1 THEN
    FOR N = 0 TO PGNO_LENGTH - 1
      $OUT[PGNO_FBIT_REFL + N] = FALSE
    ENDFOR
  ENDIF
  IF (PGNO_REQ>0) THEN
    $OUT[PGNO_REQ]=FALSE
  ELSE
    IF (PGNO_REQ<0) THEN
      $OUT[-PGNO_REQ]=TRUE
    ENDIF
  ENDIF
END

;FOLD USER SUBROUTINE;%{H}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
;Integrate your user defined subroutines

;ENDFOLD (USER SUBROUTINE)
;ENDFOLD

[Utkin]

Возможно это среда разработки Kuka KR C Office