There are two ways to cancel an appointment. Go to the time slot of the appointment in the Scheduler.

Method-1

Click on the edge of the time slot. This will open up a side menu having the Cancel appointment icon, highlighted in Image 1. Click on it.

Method-2

Click on the time slot to open the Schedule information screen. From the Canceled By box at the bottom of the screen, select Patient/provider/Clinic. Click on  button. This cancels the appointment, leaving the designated time slot vacant.