Newbie S6 robotic control layout

I've been using a Trimble S6 (with a TSC2 controller, running Survey Controller v12.00 software) for a few months to "stake-out" drilling locations on construction sites. To date I've had the luxury of control points set by professional surveyors from which I run a resesection. I have no formal training and have been able to get by till now. I am starting a new project and need to establish my own control, approx. 100 feet apart, on asphalt pavement with an elevation difference of 3-4 ft. Can I somehow setup and level the instrument, and then layout/measure two or more points to use as control with relative coordinates? This is my first post on this group so thanx in advance for any help.