AM2634: Unable to connect and flash on a new board - "Error connecting to the target: (Error -2062 @ 0x0) Unable to halt device"

Part Number: AM2634
Other Parts Discussed in Thread: UNIFLASH

Tool/software:

We have a new hardware based on the AM2634 microcontroller. I am trying to load firmware on the new board using an external XDS110 debugger using Uniflash and CCS. The process fails with the following error "Error connecting to the target: (Error -2062 @ 0x0) Unable to halt device. 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 20.2.0.3575)". The connection to the hardware looks OK as the JTAG integrity tests pass. The same is true for the SWD connection as well.  Following are some more details. I have set the SOP(Boot mode) settings to - UART using the DIP switches.

The processor is correctly getting the 3.3V and 1.2Volts. We have not enabled and connected the 1.7V to the processor. The PORz signal is asserted correctly and is stable. ClockOut signal is correct showing a frequency of 25MHz. I have also tried connecting to the target by holding the target in Reset. That also fails. I have also tried with reduced the JTAG clock speed of 100kHz.  Using the SWD mode fails with error saying "Wrong SWD header detected". Any pointers to what could be wrong? 

Thanks in advance,