Example techniques for communicating between two medical devices are described. One medical device may be an implantable medical device. Another medical device may be a lead-borne implantable medical device. The lead-borne implantable medical device may be referred to as a satellite. The implantable medical device may measure impedance of a path including at least two electrodes, at least one of which is on the lead, using an impedance measurement module. In some example implementations of this disclosure, the implantable medical device may also use the impedance measurement module to communicate with the satellite on the lead.