Hello,
You can find at http://forum.hauptwerk.com/viewtopic.php?f=3&t=3170 a series of explanations about configuring Hauptwerk to use "continuous controllers" such as swell pedals and "switch midi inputs" such as (foot) pistons.
Hopefully this will put you on the right track to get your Behringer fcb 1010 and Hauptwerk working together.
All the best.