Arduino zero Error: unable to find CMSIS-DAP device
I had exactly the same error with the same board. Running the IDE as root solved the problem. So, Chris was right pointing out a permission issue.
I found more information here : http://bitofahack.com/post/1437909576
Then I added the file /etc/udev/rules.d/98-openocd.rules :
ACTION!=&quot;add|change&quot;, GOTO=&quot;openocd_rules_end&quot;
SUBSYSTEM!=&quot;usb|tty|hidraw&quot;, GOTO=&quot;openocd_rules_end&quot;
ATTRS{product}==&quot;*CMSIS-DAP*&quot;, MODE=&quot;664&quot;, GROUP=&quot;plugdev&quot;                                                                                                                                                                                
LABEL=&quot;openocd_rules_end&quot;

I then ensured that I was member of group plugdev.
udev looks for changes in his rules directory so you don't have
to restart it.
I plugged the board again and it worked.
Note that you can force udev to read the rule files again by entering :
sudo udevadm control --reload

I had to do this because I first made a mistake in the rule file.
Hope this helps.