set up a 5axis with absolute encoders

Hello everyone. My first post with needs of help. I'm trying to set up a 5axis machine XYZCA kinematics and absolute encoders. I spent many hours with it without success. Something wrong with my understanding of this type of kinematics. I have experience with 3axis machines. I have 4 success projects but standard configuration of 3axes and encoders, Home switches of each axis. But for absolute encoders I don't have a real home position and don't know how to find a machine position . It's a problem because I can't set up the right A and C axis..with TCPR movement it's little fun..Could you help me with this.

I have a renishaw probe on the machine but I`m not understand the ` certain physical locations`.