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CCS 5.3 and OMAP5 es 2.0

Do I need a CCS update to work with ES 2.0? CCS xds100v2 works fine with ES 1.0 but I get this error with 2.0. My lauterbach also works with 1.0 and it doesn't with 2.0. The unit does boot. I also get the same issue on a 2nd es 2.0 board.

"Error connecting to the target: (Error -2131 @ 0x0) Unable to access device register. 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 5.0.872.0)"

Thanks for the help.