Yes, you need M23 to turn on Chamfering. It should be on by default when you turn on the machine, but if you've programmed a M24 you'll need to program M23 again.
Setting 95 = number of "leads" to chamfer out. (0 to 29.999) I would try 1 to start.
Setting 96 = chamfering angle. (0 to 89 degrees - no decimal point). Try 45 or 60.