normally you should check the hard limit switch and set your home position about 10 mm away from them.
after setting the zero for all axes you need to check the 1320 parameter for stroke limit on + direction and must be between 3000-5000(it means 3-5 mm)
for the tool change you must adjust the 1241 parameter on z axes until will fits the perfect atc change on the arm.
for doing that you have to go up on the arm motor,release the brake of motor is a lever there and than with a 13 or 12 socket key rotate clockwise the motor untill the arm will touch the tool holder.
check with a flashlight if there a space like i show in the picture.if not go back and adjust manual the z axes in the direction you want.
finally when you have the right position ,take the z value from machine coordinate and inserte it to 1241 parameter and you are done.