For C2000 processors 2 workflows are supported, 1. Using ert.tlc : all new targets are supported with this system target file. Auto-download is supported for ccv4, v5 and v6. Please look at example model c28069pmsmfoc_ert.slx
2. Using idelink_ert.tlc: this is old way of supporting target hardware. New processors are not supported with this system target file.
If you are new to C2000 support package it is better to use ert.tlc system target file.
The error message you are getting is because your target hardware is not connected properly to the PC. Are you using CCSv3.3? Which launch pad you are using?