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CC2640 cannot get into debug mode

Other Parts Discussed in Thread: CC2640, CC2650

We have a custom board with CC2640. We are using CC2650-Launchpad to debug/program the custom board.

We are trying to program the uart-echo example code. When we try to run the code in debug mode in CCS we are getting the following error,

Cortex_M3_0: Can't Run Target CPU: (Error -2134 @ 0x0) Unable to control device execution state. 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 6.0.407.3)
Cortex_M3_0: JTAG Communication 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 6.0.407.3)

For pin connections from launchpad to custom board, 4-JTAG Pins and reset pin is connected. 

In Build Settings, under General tab for both Main and RTSC, CC2640F128 has been selected.

When we tried to burn the program using SmartRF Flash Programmer 2, it burns. But when we try to debug in CCS we are getting the above error.