Calculation exact terms position robots

RobotStudio RobotStudio S4
1

Hi
I have some question about RS4 and real system.

  1. I have two robots which himself hand over some box. Do it possible locate base frame on real robots?(without folding rule:worried:) So I can exactly programe robots in RS.

  2. Do it possible calculate and send actual position TCP first robot on serial line to second robot and that accordingly conforms movement? (Exist some function in Rapid?)

Thank you for all advice and suggestion. G.:wink: