Sorry no one could help me, or maybe every one's too busy with the Tyros2, but I actually just worked it out, so here's the answer for anyhow who wants to use it (I find it very useful!)
When you select 'percussion' from the function menu in the controller page, instead of choosing the instrument from the percusssion menu (which will set to velocity 127), instead, just hit the keys on the keyboard to choose the percussion instrument. The velocity at which you hit the key, is the velocity which the Tyros then assigns to the pedal!
Easy!
Hope its useful to somebody.
Zalman
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