Interpolation with XRC2001 Controller

Hy,
I need to create jobs with interpolation between a MRM2-750-1X positioner and two UP6 robots . Only it is necessary to calibrate and create groups or there is something else ?
Thanks!!!!

I tested the interpolation, but the R1 movement is not good, the robot have a "lag" to the R2.
Have a magic way to run the robots exactly at the same time and mirrored position?
Anyone have a manual or a guide to help me?