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XDS200 debugger was not connect with TMS570LS20206ASPGE.

Dears,

When I try to connect TMS570LS20206ASPGE to the PC using XDS200 via CCStudio 6.0, I get the below error:

Error connecting to the target:
(Error -2131 @ 0x0)
Unable to access device register. Reset the device, and retry the operation. If error persists, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings (e.g. lower TCLK).
(Emulation package 5.1.641.0)
the message box displaied below;
"C:\AppSW\TI_CCS\MasterWarn\MasterWarn".IcePick: Error connecting to the target:(Error-2131@0x0) Unable to access device register. Reset the device, and retry the operation. If error perists, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings(e.g. lower TCLK).(Emulation package 5.1.641.0)
When I opened the project, the first time test connect was successful.
But when I tried to debugging start, occured error message.
How can I solve this issue?