The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot and a robot coordinate system. The blister film passes over the feed roll with the blisters in the recesses. A different totem is associated with each user. A network device within the network service provider may receive a control packet from a subscriber device. As a result, the load bearing seal member removes the stress normally imparted to soft elastomer seals utilized in ball valve assemblies. The solution of the present invention greatly reduces registration messages from the MN to the HA, thereby reducing signaling delay produced when the MN moves in the FN.