Assigning tooling to pockets using 21i-MB controls

I would like to know how to assign tooling to pockets on V-cnc 750.

Is it through:
-macro
-parameter
-under offsets/setting
-m/c configuration

When the machine goes to do a tool change. It doesn't look to be coming down close enough to the turret, to grab the tool. Which results in the machine dropping the tool. I was curious if that is because the reference point(G28 Z0) needs adjusted?

Thanks

Please contact technical support at 1-800-934-0735 (CINCINNATI) with your machine serial number; model type; and Control diagrams, from off the serial plate.
We can discuss details and have a dynamic conversation; which will help you much quicker than 100 post or emails...
GWood