You can use a standard 5 pin pinhead. E.g. on the PSoC 4200 prototyping kit, you can solder the pinhead to the marked area (P3.2, P3.3, RESET, GND, P4VDD) and connect the Miniprog-3 directly. Be careful to connect it the right way (LEDs on Miniprog facing towards the board).
You are right, the recommended connector is expensive and sometimes difficult to get. I have made a tiny board that interfaces the standard 10 pin 1.0mm ribbon cable to a 10 pin 1.27mm ribbon cable. Using this, I can use a standard 2x5 pin 2.54mm connector to program and debug the PSoC. The advantage is that the 2x5 pin connector can have a coding to prevent false connecting.
The cables should be as short as possible. The longer the cables are, the more likely you get problems during debugging. A better solution would be to connect the tiny board directly to the Miniprog3.
You may use common header pins to connect a miniprog3 for programming and debugging. Fastest and cheapest solution, standard spacing (2.54mm,0.1")
Thank you very much for your detailed answer!
Thank you for your answer!
If you are making your own PCB, a zero-cost alternative which takes much less board space is just to place five pads in a row near the board edge and then make a "pogo pin" jig to make contact with this. Pogo pins (also known as "bed of nails" connectors) can be got cheaply on Ebay, I have standardized on 2.54mm spacing with the ground pad through hole to help locating the Jig and the rest just on one side leaving the other side free for surface mount components and tracks.
I use the following order: VDD; GND; XRES; SWDCLK; SWDIO, the same as the Molex KK pin header fitted to some Cypress development boards. This connector is also an option of course, and cheap and easily available, but it takes up far too much space for my taste!