The Spectrum Digital XDS510USB uses a completely different software stack than the XDS200 family of emulators. The option "Extended IcePick Router Support" is unique to the XDS510USB. The equivalent support is always on in the XDS200 emulators.
The errors you are getting with the XDS200s seem to be that the communication between your PC and emulator is very unreliable. The "Error initializing emulator" and the -250 ECOM errors are both cases where the PC is unable communicate with the emulator. Lock ups and other errors also could be dropped communications.
Double-check that the USB cables are in good condition. If you're using a USB hub, try plugging the emulator directly into the PC. Try making sure other devices are not plugged into the same USB host on your PC. And if none of this seems to help, it may be that your emulators are defective and you will need to contact the manufacturer.