Afaik you should use SWD 10pins with MiniProg3. At least I always are successful with that settings.
The Miniprog3 supports JTAG, from the user manual -
The MiniProg3 programmer/debugger provides the flexibility towork with different programming and
debugging interfaces, such as JTAG, SWD, ISSP, and I2C. MiniProg3 supports all 8-bit and 32-bit
PSoC devices. When programming, MiniProg3 enablescommunication with target devices using I/O
voltage levels from 1.5 V to 5.5 V. In addition, MiniProg3 can supply power to a simple target board
at one of four voltage levels: 1.8 V, 2.5 V, 3.3 V, or 5 V.
Sorry for late response!!
My issue was fixed the error which stopped me against progamming the PSoC device is the Xres pin of PSoC device is low.So before we use to program the Xres pin must be pulled up to high
Thanks for all your support.