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PROCESSOR-SDK-AM437X: am437xIDK programming issue with XDS100V2 (USB)

Part Number: PROCESSOR-SDK-AM437X

Using  CCS :  Version: 9.3.0.00012

Processor SDK:  Processor SDK RTOS 06_03_00_106

JTAG: XDS100 V2 USB debugg mode

Device: IDK_AM437x

Example Code: C:\ti\pdk_am437x_1_0_17\packages\MyExampleProjects\MCSPI_BasicExample_idkAM437x_armTestProject

Error During programming: 

CortexA9: Trouble Writing Memory Block at 0x80000000 on Page 0 of Length 0x7ff0: (Error -2130 @ 0x80000000) Unable to access device memory. Verify that the memory address is in valid memory. If error persists, confirm configuration, power-cycle board, and/or try more reliable JTAG settings (e.g. lower TCLK). (Emulation package 8.4.0.00006)
CortexA9: File Loader: Verification failed: Target failed to write 0x80000000
CortexA9: GEL: File: C:\Users\20013266\Box\EthernetModule\Firmware\TestCode\GPIOTest\MCSPI_BasicExample_idkAM437x_armTestProject\Debug\MCSPI_BasicExample_idkAM437x_armTestProject.out: Load failed.
CortexA9: Error: (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 8.4.0.00006)
CortexA9: Unable to determine target status after 20 attempts
CortexA9: Failed to remove the debug state from the target before disconnecting. There may still be breakpoint op-codes embedded in program memory. It is recommended that you reset the emulator before you connect and reload your program before you continue debugging

The above error is very random in nature. Sometime it runs without any problem also. 

Please check below screen shots for further details: