Industry 4.0 marks a significant advancement in the manufacturing process by integrating advanced digital technologies. Robotics is one of the nine pillars defining the contours of Industry 4.0. These robots must be able to perform tasks safely, especially when working simultaneously in shared areas. However, robots only have a partial view of the production environment and need to communicate with each other to obtain more extensive information. To facilitate the exchange of information and ensure safety during the process, we can use a digital twin that contains information on the layout of the production system and is tasked with converting and transmitting part position information from one robot to the other. The communication between the robots is realized thanks to the OPC UA communication protocol. The effectiveness of this strategy is illustrated on a robotic platform constituted by two 6-axis Niryo Ned robots associated with their digital twin.