This is in the book. Main menu. you have a number key for tool changer. This brings up the need for a password which is PASSWORD in capital letters. press enter. now you can jog the spindle and move the z up and down using the handwheel (for both) and saving your orient and height is there!
Spindle speed is adjusted by par 71 (spindle gain) in the maitenance page. password is 111257 (some engineers birthday).
You will have to play with the gain and par c1-11 in the spindle drive (which sets spindle drift. drift (S0M03) cannot exceed 2 RPM or it will not do a tool change. See Yaskawa manual for how to set C1-11.