I have a new application that involves palletizing 5x5 plastic forms. The stack will be 9x9. We will be utilizing 2 UR 10's, 2 FT 300's and 2 140 grippers. The parts weight in a 12.2 KG's. This a two part question. We had a internal meeting on this project the other day and ruled out mirroring the robots due to the Joint positions not all being the same direction. Our Robot specialists feels we should use a PLC and HDMI to coordinate the movements between the robots. I don't like adding more components and difficulty for the customer. There are only 2 sensors involved with this app. Part present and Pallet present. Does anyone feel it is necessary for a PLC or can the robot handle this? What would be the best way to program this?