I don't remember whether the URC-3021 supports the keymover function or not, if it does you can most likely use advanced codes to program any missing buttons, like MENU.

To verify whether it supports the function, try this...

1) Press and hold SETUP, 2 flashes
2) Type 994

If you get 2 flashes, it works, if you get one long flash, it doesn't.

Even if it doesn't support keymover, you can still use advanced codes you just can't program them to buttons. To use an advanced code you would press (not hold) the SETUP button, then type the 3 digit advanced code.

You would need to tell us what setup code you are using for us to be able to tell you what advanced codes to try. You don't even mention what brand your combo is, so there's no way we could guess.

Also, you might find that you need to use a seperate VCR code to work the VCR functions.