TMDSCNCD263: Sitara AM263X control card

Part Number: TMDSCNCD263

Tool/software:

Error connecting to the target:
(Error -1170 @ 0x0)
Unable to access the DAP. 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 9.12.0.001
I am getting this error while running the code new device AM263X-control card, tried everything possible.
Any suggestions would be helpful