The "Cable disconnected" message indicates that the USB TAP is not successfully talking to the target.
Possible causes:
-Probetip cable plugged in backwards?
-Is the target power off?
-Is the chain (JTAG Config file) misconfigured?
-USB TAP or Ethernet TAP (or JTAG Extender cable) hardware failure?
- you might try updating the USB TAP firmware from the current CodeWarrior PA 8.7 as described in the USB TAP user manual.
I hope this helps.