The jumpers at position D are probably the ones you want to change, however the meaning of each varies by drive model. Was there a label on the other side of the drive listing the jumpers? If not, then you'll need to look up the drive online to find out how to set them.
If there are no jumpers set now, then it's probably set to SCSI ID 0, which is ok, so the only thing to check is if termination is enabled or not. Is there a jumper labeled TE? Usually, a jumper at that position would mean that termination is enabled, which I think you need if this is the last drive in the chain (or the only drive).
Did this drive come from another computer where it was working (or at one time working)? If it was the only drive, then I think you can leave all the jumpers as is, unless someone else might have been changing them.