There is no problem for the PC to connect to CodeWarrior TAP.
You could try to following command to check whether CCS can connect to the processor on the target board.
(bin) 57 % delete all
(bin) 58 % config cc cwtap
(bin) 59 % show cc
CodeWarrior TAP executable differs from local file.
CodeWarrior TAP Boot Loader version 1.0.1
CodeWarrior TAP OS version 1.0.1
Sending code to CodeWarrior TAP.........done
Running package script
0: CodeWarrior TAP (cwtap:10.193.20.72) CC software ver. {0.0}
(bin) 62 % ccs::config_chain {ls1043a dap sap2}
(bin) 63 % display ccs::get_config_chain
Chain Position 0: LS1043A
Chain Position 1: CoreSight ATB Funnel
Chain Position 2: CoreSight ATB Funnel
Chain Position 3: CoreSight TMC
Chain Position 4: CoreSight TMC
Chain Position 5: CoreSight ATB Funnel
Chain Position 6: CoreSight STM
Chain Position 7: CoreSight TMC
Chain Position 8: CoreSight ATB Funnel
Chain Position 9: CoreSight ATB Funnel
Chain Position 10: CoreSight TMC
Chain Position 11: CoreSight TMC
Chain Position 12: CoreSight TMC
Chain Position 13: CoreSight CTI
Chain Position 14: CoreSight CTI
Chain Position 15: CoreSight CTI
Chain Position 16: Cortex-A72
Chain Position 17: CoreSight CTI
Chain Position 18: Cortex-A72 PMU
Chain Position 19: Cortex-A72 ETM
Chain Position 20: Cortex-A72
Chain Position 21: CoreSight CTI
Chain Position 22: Cortex-A72 PMU
Chain Position 23: Cortex-A72 ETM
Chain Position 24: Cortex-A72
Chain Position 25: CoreSight CTI
Chain Position 26: Cortex-A72 PMU
Chain Position 27: Cortex-A72 ETM
Chain Position 28: Cortex-A72
Chain Position 29: CoreSight CTI
Chain Position 30: Cortex-A72 PMU
Chain Position 31: Cortex-A72 ETM
Chain Position 32: DAP
Chain Position 33: SAP2
(bin) 64 %