First off, I would not change any parameters until you fully understand what they are for and how they affect the machine/rotary.
To connect the rotary cable to the machine, turn the machine off or place in E-Stop (Very Important!!!). Goto Setting 30 and right/left arrow until you find your rotary model. Press ENTER button. This will pull up the correct parameters for that particular rotary product. At this point you should be able to home the machine and use as you wish.
If the rotary does not work at this point, report back exactly what the problem is along with alarms.