Have you updated the firmware to the version included with USBDM?
This looks like a problem with it expecting a different response on register read failure.
According to your response , I update the firmware and retry it . but It's failed to debug ksdk project . If i new a project in kds , usbdm can debug the projcet .
you can download the freescale sdk from the link and try it.
I don't have a twrk60d100 to try out your example, however I was able to load several of the other demonstrations for other boards without significant problems.
When I tried the flash_demo_twrk60d100m example with a TWR-K60N512 it did load but did not execute correctly as it is the wrong CPU.