Howdo I set up JTAG for Apalis T30

I am trying to setup JTAG debugging using Lauterbach but so far I have been unsuccessful. How do I set up a debugging session? SYStem.CPU TEGRA3 or CORTEXA9MPCORE , SYStem UP or SYStem ATTACH don’t work. Do I need to set up something else that I am missing?

Basically the same applies as for Apalis TK1 as mentioned here.

I have tried this already but I cannot establish a connection. Lauterbach T32 software cannot detect or set the Jtag clock. I checked the clock signal on the JTAG lines and there seems to be no clock, what can I do about this?

What exact versions of things are you talking about?