Press the SET key, it will bring up a menu screen. Use the arrow keys to navigate to to the right hand side of the screen, select “macro”. The press the select button for “soft op” (on the bottom on the screen). Use arrow keys to navigate down to PWE enabled, while hovering over PWE enabled type “1” then press insert. I believe a machine restart is required after.
For the compensation go to the AI screen type 9990 then press page up. Backlash compensation should be in one of those menus.
Good luck!