# Calculation exact terms position robots

**URL:** <https://tech-community.robotics.abb.com/t/calculation-exact-terms-position-robots/1498>\
**Category:** RobotStudio S4\
**Created:** [October 29, 2007, 9:50am UTC](https://tech-community.robotics.abb.com/t/calculation-exact-terms-position-robots/1498 "2007-10-29T09:50:14Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![georgeo](https://avatars.discourse-cdn.com/v4/letter/g/aeb1de/32.png) [@georgeo](https://tech-community.robotics.abb.com/u/georgeo)\
**Post date:** [October 29, 2007, 9:50am UTC](https://tech-community.robotics.abb.com/t/calculation-exact-terms-position-robots/1498/1 "2007-10-29T09:50:14Z")

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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.😉