Hi,
Open Devices > Device Setup. In the top-left corner, click to + button, and Add Generic Remote Device.
Then select MIDI Input port and click Apply.
Then enable Learn, select the 1st row of the upper table, and press the 1st footpedal. Select 2nd row and press pedal 2, etc. This way, it will learn incomming MIDI data.
Then go to the lower table. Select 1st row and select the command, you want to control via this pedal. For example Transport > Device > Start.
Please search for Generic Remote in the Operation manual or here on the forum, to find more details.