编写一段川崎机器人码垛的程序参考

以下是一段川崎机器人码垛程序的参考代码，仅供参考：

PROC main()
    ;初始化机器人
    InitRobot()
    
    ;设置码垛参数
    T_PALLET = XYZABC(100, 100, 0, 0, 0, 0)
    T_BOX = XYZABC(0, 0, 100, 0, 0, 0)
    PALLET_SIZE = XYZ(1000, 1000, 1000)
    BOX_SIZE = XYZ(100, 100, 100)
    PALLET_ROWS = 5
    PALLET_COLS = 5
    BOX_LAYERS = 5
    
    ;定义变量
    DIM box_count AS INTEGER
    DIM layer_count AS INTEGER
    DIM row_count AS INTEGER
    DIM col_count AS INTEGER
    DIM pallet_height AS INTEGER
    DIM box_height AS INTEGER
    
    ;计算码垛高度
    box_count = PALLET_ROWS * PALLET_COLS * BOX_LAYERS
    layer_count = CEIL(box_count / PALLET_COLS)
    row_count = IF(MOD(box_count, PALLET_COLS) == 0, PALLET_COLS, MOD(box_count, PALLET_COLS))
    col_count = IF(box_count < PALLET_COLS, box_count, PALLET_COLS)
    pallet_height = layer_count * BOX_SIZE.Z + T_PALLET.Z
    box_height = BOX_SIZE.Z / 2
    
    ;定义变量
    DIM pallet_pos AS POS
    DIM box_pos AS POS
    
    ;移动到起始位置
    pallet_pos = T_PALLET
    MoveL pallet_pos
    
    ;开始码垛
    FOR layer = 1 TO BOX_LAYERS
        FOR row = 1 TO PALLET_ROWS
            FOR col = 1 TO PALLET_COLS
                ;计算物料位置
                box_pos = pallet_pos + XYZ((col - 1) * BOX_SIZE.X, (row - 1) * BOX_SIZE.Y, pallet_height - layer * BOX_SIZE.Z + box_height)
                
                ;拾取物料
                MoveL box_pos
                GripOn()
                
                ;放置物料
                box_pos.Z = T_BOX.Z
                MoveL box_pos
                GripOff()
            NEXT col
        NEXT row
    NEXT layer
    
    ;退出程序
    EndProc
ENDPROC

需要根据实际情况进行修改和优化。