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cannot connect to RM48L950 board

I cannot connect to my RL48L950 target board with JTAG after downloading my program. When I click Debug on CCS, I got the following error information.

Error connecting to the target: (Error - 2062@0x0).

Unable to halt device. Reset the device, and retry the operation. If error persist, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 5.1.232.0)

My questions:

1, How to make the board alive?

2, How to avoid the problem in the future.

Thanks