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Quick question, first: Do you want Foe 2 to always revive Foe 1 the minute that they die? Or is it that you want Foe 2 to not waste time and MP trying to raise Foe 1 when they're still perfectly healthy?
Because I can think of different solutions to each one.
In the Troops event, use a condition that "Foe 1 is HP 0% or less". If so, use "Force Action: Foe 2" and make Foe 2 use the raise skill. Make sure the Troops tab is on "Turn", so it checks every turn.