How to debug C/C++ on CM-5 w/Atmel Studio 6

[ncostes]

Just got the comprehensive bioloid kit. I am compiling w/Atmel Studio 6, and I can build debug or release. I've used Roboplus Terminal to download the .hex file and was able to run it, and I my code works fine.
I'm just wondering if it's possible to debug w/Atmel Studio 6 on the CM-5?
I only see the AVR Simulator when I go to pick tools for debugging. I found one example video and it was for aboard with a JTAG port. Is it possible to debug over the CM-5's serial port?

I can downgrade to AVR Studio 5 if needed.

Thanks!

[ncostes]

I see here http://robosavvy.com/Builders/petej/AX- ... rBoard.pdf

J3 looks like a JTAG connector.

But in the photos of the front and back of the CM-5 I don't see the header.

Is there a JTAG port inside the CM-5?

[siempre.aprendiendo]

It's about the CM-510, but I think this thread could help you, specially the last three posts

[ncostes]

Thanks for the links. I found out that basically there's not an easy way to do it.