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CCS/TMS570LC4357: Hercules MCUs in JTAG chain

Part Number: TMS570LC4357
Other Parts Discussed in Thread: UNIFLASH, SEGGER, TMS570LS1227

Tool/software: Code Composer Studio

How is it  possible to connect to TMS570LC4357 in JTAG chain?
We have board with two TMS570LC4357.This two MCU is connected in chain to one JTAG connector. 
We are able problem to connect  both MCUs with Segger J-LINK (with user defined script). But there is no visible option to setup XDS200  J-LINK tool in this configuration in TI UniFlash tool. How to do it?

Jiri