Messages—Voicemail
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From the new message notification:

Listening to a Voicemail Message

To listen to your voicemail messages at any time:
Your Personal Communicator calls the voicemail phone number
you stored. If you do not have a voicemail number stored, the
Personal Communicator guides you through storing a number.
Do This To
Press CALL ([) call your voicemail phone number
and listen to the message
Find the Feature
M> Messages > VoiceMail