It could be done in manual mode. Generally, It's very good to do step by step reading the manual. The idea is:
1. Open door
2. Push the button to open tool clamp
3. Manually place the tool into spindle nose
4. Push the button to clamp the tool
5. Key-in the tool description. Tool number is absolutely necessary, all the rest ( offset, radius compensation ) according the situation
6. Check if the next tool is "0"
7. Push the button manual tool change.
Tool goes to magazine ( you don't care to which pocket )
This procedure is good for setting tools when you do measure offsets at the same time.
I can't tell if the description of procedure is correct here, Door open close sequence can be different. The push button for tool description in the manual mode and so.
Another way is to set the tool into magazine and tell in the parameters the tool number in that exactly pocket. After that is possible to call the tool into spindle.
Should be described in detail here in this forum in the posts at about 2002. Maybe someone will attach the original procedure description taken from operators manual.