[quote user="Chester Gillon"]On the second and subsequent downloads the GEL script encounters an error and aborts, but the program appear to get downloaded without error. Capture of the GEL script error[/quote]On further investigation the GEL script error was due to running a SYS/BIOS example. SYS/BIOS is changing something in the AM335x configuration such that the control register at address 0x44E10040 isn't readable by a GEL script (or the debugger).
After downloading a SYS/BIOS program, executing a system reset before stopping the debug session then allows the GEL script to run without error on the next debug attempt.
After installing the TI Emulators 5.1.402.0 update in both CCS5.5 and CCS6 beta 3 have seen no more "Unable to access the DAP" errors.