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Madara was able to use Kamui because he implanted Obito's mangekyo sharingan. At that point he had one mangekyo and one Rinnegan. And no, he is not able to use Mangekyo techniques when he has both Rinnegan, he has to switch between EMS and Rinnegan with his original eyes (Edo Madara was not in his original state). The reason Madara managed to use Kamui unlike Obito is because he is God. Jokes, no but seriously he has Hagoromo chakra and Hashi's SM so he is capable of handling the power of one Rinnegan and Mangekyo eye at the same time. The reason he didn't use Susanoo with Obito's mangekyo is because to use Obito's Susanoo you must have both his sharingan, like Kakashi. 