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CCS/AM5728: Cannot connect emulator

Part Number: AM5728

Tool/software: Code Composer Studio

Recently I designed a board based on AM5728, the schematic is the same as the 5728 evm. When I use CCS5.4 and XDS560V2 to simulate, but I cannot connect it while the same operation can connect the evm board. The message CCS warned is as follows.

 IcePick_D: Trouble Writing Register IP_TAP_CNTL_4: (Error -1013 @ 0x24) 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  6.0.222.0) 
IcePick_D: GEL: Error while executing OnTargetConnect(): Target failed to write register IP_TAP_CNTL_4
at IP_TAP_CNTL_4=writeBackValue [AM572x_ICEPickD_Utility.gel:18]
at ReleaseWIR_Ipu_RTOS() [AM572x_ICEPickD_Utility.gel:42]
at OnTargetConnect()
CS_DAP_DebugSS: Error connecting to the target: (Error -241 @ 0x0) A router subpath could not be accessed. A security error has probably occurred. (Emulation package  6.0.222.0)  

I reset the board and retry the operation,the phenomenon remains the same.  And the power supply and Crystal are all normal,.the schematic is just the same as the 5728 evm board. So what problem may it be?