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The VTech 6041 isn't an answering machine. If you have a separate answering machine connected to your phone line, please consult its documentation. If you're subscribed to a voicemail system provided by your telephone company, please contact them for instructions on accessing their voicemail system.
Alternatively, if you do have an answering machine connected to your phone, reply to this post and specify the make and model of your answering machine.
Since you neglected to specify the model of your Uniden DECT 6.0 phone I can only suggest you select it from the list beginning here to download a copy of the manual and the remote access instructions.
Call your telephone number and wait for the answering machine to answer. If the answering machine is off, it will answer after about 10 rings and series of beeping sounds.
During the greeting message (or a series of beeps when the answering machine is off), press  and enter your PIN code within 2 seconds (see "Setting a Security Code or Personal Identification Number (PIN)" on page 54).
The answering machine announces the current time and the number of messages stored in memory. You hear "To play incoming messages, press zero-two. For help, press one-zero." You will hear a beep.
Enter a remote command within 15 seconds, each command there after must be entered within 2 seconds.
To connect with your answering system:
1 Dial your telephone number from a touch tone phone.
2 When the system answers, enter your Remote Access Code.
The system announces the number of messages and begins
3 Listen to your messages
Change remote access code Press [*] [#]. Follow prompts to set new code.