LAUNCHXL2-TMS57012: Error -1170 @ 0x0

Hello I have a Hercules TMS570LS1224, the target is new and is the first time I used it

I try to connect I get following error message:

"CortexR4: 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 9.3.0.00042) "

thanks