How do I pin each object instance from one family to each object instance from another family ?

I tried everything but I get stuck because pining one family to another family or object to family or family to object makes whole family move together when pinned... Is there a way I could pin an instance of object ( Which is "base' for my units to make movement and selection easier ) to an instance of unit ( That has its own family ) in such way that every unit created has its base and they all function separate of each other?