Sounds very interesting. I don't think that would work, Scott. Sysex stands for system exclusive. So if you initially sent the message from a PSR 9000, then the first part of the message that the MFC10 would be triggering back to the PSR 2000 would be "message going to a Yamaha PSR 9000 keyboard." The PSR 2000 would have a different keyboard id, and would, I believe ignore the sysex message.
On the other hand, you could use a computer to trigger a sysex message. With Cakewalk, for example, you can send a sysex command over any channel you want, and perhaps you could program the pedal that way. I bet this would work, though I'm not sure.
I bet you could also use this to trigger the count-in intro feature.
Larry