This is really cool how I found this page! I bought an FC006N a few months ago and have been trying to take this same journey. Although with the lack of support and documentation I really couldn't move forward with the project. It looks like I have everything I need except for the teach pendant:
I called Kawasaki to figure out what would be compatible and they gave me this part number: 50817-1231 (Which turns up nothing at all, I cant even find proof that such a part# exists). What was the part# of the TP your using? and how exactly did you get it connected?
The controller came with a floppy disk that had KCwin ver. KCW000-7 (for Windows 3.1, 95) That I opened up in an old Windows 95 machine, but couldn't get the controller to respond through the RS232 port, or the terminal software to do anything really. Where can I download KCwin32? Looks Like your running on Windows 7?