Overview about different types of debugging probes for programming and debugging is explained here.
CMSIS-DAP Debug Probe is designed for the ARM University Program advanced soc course.
It is a debug unit providing debug access for ARM® Cortex® processors with JTAG capabilities.
It is compatible with digilent zybo board, and it also can be used with other digilent pmod™ interface (1×6).
Additional information about the product you can find here.