Well, I installed CodeWarrior 8.2 again, and found that the similar problem still exists. Here is what I've done:
Step 1: Installed the CodeWarrior 8.2
Step 2: Used parallel JTAG to connect to MC56F8013 Demo board. It worked fine.
Step 3: Changed the setting to USBTAP to connect to the same board. It works fine.
Step 4: Changed the setting back to parallel JTAG to connect to the same board. And removed the USBTAP from PC. I got message: "CCS: USB open failure".
Step 5: Connect USBTAP to PC, and keep the same setting and test USBTAP, it is still able to connect to the demo board.
I found I am not able to connect to parallel port anymore, unless I delete and install CodeWarrior again.