The usual cause of this problem is a mis-configured CDROM drive. Many PCs now ship with the CDROM as the slave device on the secondary IDE controller, with no master device on that controller. This is illegal according to the ATAPI specification, but Windows plays fast and loose with the specification, and the BIOS ignores it when booting. This is why the BIOS was able to see the CDROM to boot from it, but why FreeBSD cannot see it to complete the install.
Reconfigure your system so that the CDROM is either the master device on the IDE controller it is attached to, or make sure that it is the slave on an IDE controller that also has a master device.