According to my user manual
To learn the ID number of additional remotes, follow these steps:
1.) Press and hold the LEARN button located on the side of the receiver (receiver will emit a continuous tone). A small blunt object must be used to depress the LEARN button (pen or screwdriver).
1.) Press any button on the remote (receiver will beep 4 times confirming that it has "learned" the ID number of the remote and that the programming is valid and complete).
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