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v0.34:Train
Training of war/hunting animals (currently only dogs) is done as task in a kennel. You need a dwarf with animal training enabled. Of course you also need dogs. Training will increase the dogs fighting abilities; think of them as "veteran" dogs.
Getting your dogs to the place you want them after training is a bit more tricky - you can assign them to a dwarf/soldier so they will follow him/her (this is done from the v-p menu of the dwarf) and station the soldier where you want the dogs, or you can build a cage, cage the dogs and link the cage to a lever, so they can be released from a distance in case of ambush, siege or whatever.
Animals can also be chained to ropes and chains.
There are reports of other, tamed, animals like leopards and tigers acting as defenders too; they can however not be trained.
Any animal acts as guard in that they can detect ambushing creatures and thieves.