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TIDA-00643: Problem connecting JTAG

Part Number: TIDA-00643
Other Parts Discussed in Thread: CCSTUDIO, MOTORWARE

Hi,
I am trying to program the TIDA-00643 ESC using XDS110 Debug probe. 
I have manually connected(soldered) the following connection for JTAG between esc and probe(TMS, TCK, TDI, TDO). 
I complied the Lab 2c and placed the binary in the InstaSpin_2802xF_Universal folder along with the .ccxml file. 
After that I powered the ESC with 16V. Connected the debug probe usb to PC and ran the universal gui. I am getting following error. 

Restarting Program Model...
Initializing target : C:\ti\guicomposer\webapps\InstaSPIN_F2802xF_UNIVERSAL\appConfig.ccxml
Connecting target: Texas Instruments XDS100v2 USB Debug Probe_0/C28xx
sun.org.mozilla.javascript.internal.WrappedException: Wrapped com.ti.ccstudio.scripting.environment.ScriptingException: Error connecting to the target: emulation failure occurred (<Unknown source>#14) in <Unknown source> at line number 14Restart Completed.

After looking at other answers in the forum, I found that this problem occurs if the MCU is not getting power. But I have checked all the power pins and they are all correct. Any suggestions please.