Do CoolRunner XPLA3 or CoolRunner-II devices require weak pull-up resistors on the JTAG pins between daisy-chained parts?
No, this is not required, but it is recommended. The internal pull-ups present on TDI and TMS (as required by the IEEE 1149.1 specification) can be as weak as 100k Ohm. As a result, it can be beneficial to apply external pull-ups to the JTAG pins to prevent noise from accidentally toggling the JTAG pins.
For XPLA3, the pull-ups are to VCCINT.
For CoolRunner-II, the pull-ups are to VCCAUX.
For more information, see (Xilinx Answer 11433).