You must set up the PDO to include the Touch Probe objects.  If it is a drive with profiles built-in to the trio firmware, then the usual selection is DRIVE_PROFILE = 2 in position mode.  If using an EC_EXTEND file then you must add the touch probe to the EC_EXTEND.

When touch probe has been set up, the DATUM(1), (2), (5) and (6) will work as well as the REGIST commands that capture the Z position.