Connecting an alarm panel to zerotier

this is my scenario. my ISP ( 3 ) operates CGNAT, I have an alarm panel with a local IP address ( 192.168.1.36 ) that cant be accessed from the WAN. the alarm panel is accessed via an app ( selfmon ) through port 10001 that i have on my iphone. i want to set up a zerotier VPN that includes the alarm panel. I have opened a ZeroTier network, I was advised to connect a rasberrypi to the zerotier network, which i’m trying to do. when i have done that how do i connect the alarm panel to the zerotier network? how do i give an alarm panel a VPN IP address for the zerotier network?