MSP-EXP432P401R : Debugging fails with 'JTAG Communication Error'

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I have a problem with the MSP-EXP432P401R. After connecting, it runs for some time but after some time suddenly the board gets disconnected. The exact error message is:

CORTEX_M4_0: JTAG Communication Error: (Error -615 @ 0x0) The target failed to see a correctly formatted SWD header. The connection to the target may be unreliable. Try lowering the TCLK setting before trying again. (Emulation package 5.1.641.0)

CORTEX_M4_0: Breakpoint Manager: Remove job failed: Register/ write failure[22005]

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