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If you are http://localhost/ as your main page, and the iframes are on the same host domain http://localhost/ you should be able to read the iframes & their content with javascript.
If you are lets say http://mywebsite.com/ and you are trying to access http://localhost/ you'll run into a wall, because web browsers are built to prevent you from interacting with the sub-domain or iframe bacause of Same-Origin-Policy.
If you control http://localhost/ you can add the headers or permissions to allow Same-Origin-Policy to overrode. CORS for short. Not sure if it allows iframe access, i dont use iframe much anymore, i just use AJAX. Which for you i'd recommend looking into because it can handle ERROR PAGES exactly the way you want.
If you control both the HOST http://mywebsite.com/ & http://localhost/ you can put javascript on both pages & allow them to communicate with each other. But if you are getting error pages, it is unlikely you can control error page responses.