I think the answer is; yes LCD CGRAM characters can be programmed and used with the FRM010 ( and AXE033 ).
To program a CGRAM character you have to use a 254,%01xxx000 command where 'xxx' is the CGRAM character number (0-7) in binary then send 8 bytes of 5-bit wide pixel data, which must be non-zero, so easiest is to set bit 5.
For example to program CGRAM character 1 ...
SerOut LCD, BAUD, ( 254, %01001000 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %100100 )
SerOut LCD, BAUD, ( %111111 )
SerOut LCD, BAUD, ( %100100 )
SerOut LCD, BAUD, ( %101010 )
SerOut LCD, BAUD, ( %110001 )
SerOut LCD, BAUD, ( %100000 )
Then I believe it's necessary to send a positioning command, such as Start of Line 1 ...
SerOut LCD, BAUD, ( 254, %10000000 )
And to use the CGRAM characters send the number of the CGRAM character plus 8. So to display CGRAM Character 1 send 9 ...
SerOut LCD, BAUD, ( 9 )
You should then see the character of a man. Only tested on AXE033.
Complete example code ...
#Picaxe 18M2
Symbol LCD = B.1
Symbol BAUD = N2400
Pause 1000
SerOut LCD, BAUD, ( 254, %01000000 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %100100 )
SerOut LCD, BAUD, ( %111111 )
SerOut LCD, BAUD, ( %100100 )
SerOut LCD, BAUD, ( %101010 )
SerOut LCD, BAUD, ( %110001 )
SerOut LCD, BAUD, ( %100000 )
SerOut LCD, BAUD, ( 254, %01001000 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %100100 )
SerOut LCD, BAUD, ( %111111 )
SerOut LCD, BAUD, ( %101110 )
SerOut LCD, BAUD, ( %111111 )
SerOut LCD, BAUD, ( %101010 )
SerOut LCD, BAUD, ( %100000 )
SerOut LCD, BAUD, ( 254, %10000000 )
SerOut LCD, BAUD, ( 8, 9 )
End