Dear Javier,
Make sure you have run the following batch files in the USBDM installation files (and check for errors):
run"Install Codewarrior Files.cmd" to install the drivers
run "Install Codewarrior Wizards.cmd" to add USBDM to the Codewarrior Eclipse wizards .
Providing Codewarrior is installed to the usual location this should add the USBDM item that is missing.
If this doesn't work try running :
"c:\Program Files\Freescale\CW MCU v10.0\eclipse\cwide.exe" -clean
from a command line to tell Eclipse to refresh its settings.
USBDM supports JS16 on Codewarrior V6.x and V10.x so it should work in either.
bye