Another test which points at the update of the TI Emulators package as being the cause of the problem is that a CCS 6.0.0.00091 installation using TI Emulators 5.1.275.0 was able to perform multiple debug sessions without having to power-cycle the AM335x Starter Kit between each debug session.
However, when the CCS 6 installation was updated to TI Emulators 5.1.340.0 had to then power-cycle the AM335x Starter Kit after each debug session to avoid getting the following error:[quote]CortxA8: Error connecting to the target: (Error -1203 @ 0x3D5B) Unable to access the DAP. Reset the device, and retry the operation. If error persists, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 5.1.340.0)[/quote]