Connect to Xilinx Zynq 7030 via JTAG connection?
I'm going to quote the Vivado Programming and Debugging Manual here:


Open the Hardware Manager.
Open a hardware target that is managed by a hardware server running on a host
computer.
Associate the bitstream data programming file with the appropriate FPGA device.
Program or download the programming file into the hardware device.


Your programming cable is even explicitly mentioned in the manual. Follow the steps of chapter 4 starting on page 23 and you should be fine.

EDIT: By a freak chance, I found this document while looking for something else, it might be useful to you(the Xilinx Doc tool is a crazy thing). There is a project type literally called "Bare-Metal Executable". 
There is even a video called "Zynq Bare-Metal Application Development".