The UCR201 Jog Pendant requires the user to enable the plugin in the configuration window in UCCNC. If you are running version 1.2037 of UCCNC, you may find that the Jog Pendant does not show up in the configuration window. If this is the case, you simply need to update UCCNC to a newer version which can be found below...
UCCNC Version 1.2049 - http://www.cncdrive.com/UCCNC/download_UCCNC.php
After downloading and installing version 1.2049 of UCCNC, the Jog Pendant should now be visible in the configuration window and you can proceed with the rest of the setup!