You can find the Twilio button in the header of a Job Detail screen after opening a job:

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Clicking on Customer Number will populate the Phone Number field with the customers Mobile Phone. In the Text Message field you can write your message and then you can click Send to send the text. Text messages sent are also saved to the Job Notes.

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Use Saved Message will populate the Text Message field with a saved message that can be edited from the Main Menu > Settings > Twilio.

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Here you can modify your saved message. Message Tags are eventually replaced with the customer's information when the saved message is sent.