If you want to know where ESA spacecraft are and how they are linked to the ground, then ESA has a fantastic website. ESTRACK displays both the spacecraft and the ground stations that are tracking them, in real time and historically. You can pick a mission, such as BEPI Colombo, and see mission data plus the ground stations in use; or you can gather information of the ground stations themselves.

Check out at: estracknow.esa.int