This post shows a block diagram of the Xilinx ZCU102 Evaluation Board's JTAG chain.
Here is the JTAG chain on rev 1.0 and 1.1 of the ZCU102 as derived form the schematics:
From the ZCU102 Evaluation Board User Guide:
Vivado, SDK and or third-party tools (and PetaLinux Tools?) can establish a JTAG connection to the Zynq UltraScale+ MPSoC device through one of the three provided JTAG interfaces:
1. Xilinx platform USB or cable PC4 connector (J8)
2. ARM 20-pin JTAG connector (J6)
3. Digilent SMT2.5 USB-to-JTAG module with off-module micro-USB connector (J2)
Note: Only one of these connections can be used at a time.
If no FMC cards are installed, then the switches are closed and TDI can flow through to TDO as seen in this diagram from the JTAG Wiki:
TDI (Test Data In)
TDO (Test Data Out)
TCK (Test Clock)
TMS (Test Mode Select)
TRST (Test Reset) optional
References
ZCU102 Evaluation Board User Guide UG1182 (v1.3) August 2, 2017 at [link]
ZCU102 Board Schematics (zcu102-schematic-source-rdf0403.zip) at [link] (sign-in required)
JTAG Wiki at [link]
Xilinx logo found via https://twitter.com/xilinxinc at [link]