ABB RobotStudio Multi-Arm Simulation

I need a full digital-twin built in ABB RobotStudio that shows six robotic arms(IRB or GoFa) processing any assemblies(ex. electronics) in sequence: pick-and-place, assembly, inspection, packaging, etc.. I already have a broad layout sketched; what I am missing is the detailed, collision-free coordination, the signal/I-O logic that drives each hand-off, and a clear view of performance once the cell is running.

Scope
• Model all six stations with accurate tooling, work objects, and joint limits so the arms can run simultaneously without interference.
• Implement synchronized RAPID programs and virtual I/O to keep the flow continuous.
• Deliver the complete RobotStudio pack&go file.

Acceptance
The project is complete when the virtual cell runs uninterrupted.