The URC7140 -R02 doesn't have a built in setup code for Azur 751R.  However, you can manually program the remote to send the correct IR signals by entering 5 digit EFCs.  If you prefer to avoid all the button presses, you could also return the remote to OneForAll customer support, and they will add the necessary info, or you could buy a USB to Serial cable for about $10, and upload an upgrade from your computer.

First assign setup code 2114 to the Audio device button.

The manual procedure (Key Magic) is given on page 3 of the Extra Features section of the manual:
1) Press Magic until the Blue LED blinks twice
2) Enter 994
3) Press and release Magic
4) Enter the 5 digit EFC
5) Press the button you want to use for the function
The blue LED should blink twice.

tuner am/fm toggle    28729
bd/dvd    28733
video 1    28721
video 2    28725
recorder 1    28713
aux    28717
cd    28705
recorder 2    28709
usb (751R only)    28697
video 3 / mp3    28701
power (toggle)    28689
mute (toggle)    28693
vol up / menu up    28681
vol down / menu down    28685
analogue stereo direct    28673
stereo mode(s)    28677
surround mode(s)    28793
zone 2    28797
trigger A    28785
trigger B    28789
exp    28777
brightness    28781
info    28769
tuner stereo / mono toggle    28773
tuner store    28761
tuner mode    28765
left    28753
enter    28757
right    28745
osd on / off    28749
bass / treble    28737
7.1 direct input    28741
audio input type    28857
pic adjust    28861
input select    28853
power on    28841
power off    28845
mute    28833
unmute    28837
tuner stereo    28825
tuner mono    28829
tuner am    28809
tuner fm    28813
lip sync    28869