Estlcam machine controller

Ok I think this is where I am getting confused as to how the controller works. Currently I am aligning my work piece to a machine homed 0,0 position with limits but If I understand correctly you are “Touching off” to the workpiece to find the 0,0 of the workpiece?

How does that work and what do you use for that?
Does it just connect to the probe input in a GRBL compatible board?
I cant see anything that covers the touching off do you have any videos / information?

Thanks for the info so far!