If the zaurus is recognized and you want to simply connect via USB use the following script:
#!/bin/bash
/sbin/ifconfig usb0 192.168.129.200 netmask 255.255.255.255 up
/sbin/route add -host 192.168.129.201 usb0
ssh 192.168.129.201
This is not my script, but it works like champ.
This presumes of course you have ssh on your 6000, the 6000 is recognized and you have USB networking setup.
You can access the zaurus from the terminal OR use
ssh://username@192.168.129.201 (I use root for username, forgive me) from Nautilus(Connect to server-Custom Location-Fill in the blanks), or I assume similiiar in Konquerer.
I am not sure if this is what you are after, but this will work. If you want to connect at startup, let the script run at startup.
Hope that helps,
acme