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TMS320F280023C: Loading TMS320F280023C board using XDS110 in LAUNCHXL-F280025C

Part Number: TMS320F280023C
Other Parts Discussed in Thread: LAUNCHXL-F280025C

Attempted to load code to custom made board using: TMS320F280023C through  XDS110 in LAUNCHXL-F280025C in cJTAG mode using only TCK and TMS and got the following error:

1. Error connecting to the target, Error -2131

2. Is TMS pin needs to be pulled up to avid this error ?