So there is a short tutorial video on the official Casio YouTube page. At the beginning of the video, the guy shows how to program a beat using steps, and then how to do it live. But when I do what he does the only result I get is a demo playing when I hit the play button.
I have been able to figure some more advanced stuff out like changing sounds on a pad but I can't get anywhere with the most basic function of making my own beats. Both the printed manual and the pdf manual seem to breeze over the basics.