LAUNCHXL-F280039C: Error connecting to the target (Debug in CCS)

Tool/software:

When I am trying to debug LAUNCHXL-F280039C, I got the follow error:

IcePick_C_0: 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 20.0.0.3283) 

I have checked the XDS110 version and I have the latest version:

<<<< Device 0 >>>>

VID: 0x0451 PID: 0xbef3
Device Name: XDS110 Embed with CMSIS-DAP
Version: 3.0.0.33
Manufacturer: Texas Instruments
Serial Num: CL391078
Mode: Runtime
Configuration: Standard

I don't know what else I can do.