Enter EDIT menu
select item 5.4 POT MAPPING
select: SRC & DEST Map 1
set these values there:
SRC: MOD 2 (socket to connect pedal to in the Voyager’s back)
Dest: Filter Decay
Direction: normal (longer decay when pedal is down)
Amount: 25%, 50%, or 100% according to your needs.
Please be sure to set the minimum filter decay on the panel.