With a very small tip on a low wattage soldering iron, it can be installed. There is solder already on the mounting pads on the board, so if you pre tin the bottom of the connector pins with solder before installing, the process will go more smoothly (you just need a thin film of solder). Be careful, since the connector can be installed wrong. If you look at the BeagleBone Black manual, near the end, it shows the silkscreen image of both sides of the board. The bottom side shows the JTAG connector pads with the pin numbers beside them. Make sure the missing pin 6 is over the pin 6 position on the board. Just a touch of the soldering iron on each pin should be enough to melt the solder on the board and make a good connection. Using more solder makes shorting (bridging) between pins likely. Examine all the connections with a magnifier to make sure they are all well connected with solder.
Next, I ordered an XDS100V2 USB emulator from Texas Instruments. CAUTION: there are several different versions of XDS100 emulators. There are XDS100V1, XDS100V2, and XDS100V3 emulators. These different types also have different connectors for different processors. The one I needed to connect to the BeagleBone Black is the XDS100V2 with a 20 pin connector. After the emulator arrived, I connected it up and tried to run a minimal main.c program that only initialized a few variable, nothing else. Much to my dismay, the emulator reported that the processor was being held in reset and would not connect. I knew that the processor was NOT in reset as it was running the internal Angstrom Linux and the user LEDs were flashing. Just to be sure, I checked the SYS_RESET (pin 15 on the JTAG) connector. It was at 3.3 volts, indicating that the board was, in fact NOT in reset. I also noticed that the TRSTn (pin 2) was always low. It looked like the emulator was monitoring this pin for reset. It looked like everything was connected up correctly, but still didn't work.
After a little more investigation, I found that you needed to hold down the Boot Switch on power up so that the beagleBone does not try to boot Angstrom Linux. I also found that the ARM processors have to have some registers specifically preset in order to work with a JTAG device. This is done by downloading a .gel file first to initialize the processor correctly. I found a .gel file that was supposed to work with a BeagleBone Black, and set up Code Composer Studio to download this file upon connect. Much to my surprise and delight, the DEBUG version of my program started downloading. After a short delay, my main.c program was displayed with a break point at the very beginning of my main.c program. As I single stepped through the main program, I was able to examine the variables and verify that they were being initialized just as I had programmed them to be. GREAT, now I am off to do some "real" programming ("bare metal") down in the guts of the processor.