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Unable to access the DAP

Hi

I have trouble booting a board based on the beaglebone design.

1. When I try to connect with JTAG using a XDS100v2 from CCS I get the following error message:

Error connecting to the target:
(Error -1204 @ 0x3D5B)
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 5.1.73.0) 

2. I've tried lowering the JTAG TCLK without success

3. The "Test connection" in CSS Target Configuration runs OK.

4. I have also tried setting the SYSBOOT to uart0 and looked for "CCCCC" output. The uart remains quiet.

Could someone please guide me on what might be the problem or what to try next?