Set the TF MIDI [RCV CH] to OMNI. Then go to [RCV CTL], set up for the parameter you want to control and enter LEARN mode (some User Manual reading required).
Then, if your pedal sends almost any MIDI control at all, the TF will receive it and lock to it. You should certainly get a response from the Behringer foot pedals.
The Behringer manual does look pretty incomprehensible, but it seems that it will produce both Program Change and CC (described as Control Change). You may want to direct some of your queries to them – if you set up the TF as described above and get no result the problem will be either your MIDI cable or the Behringer programming.
