In case of this error in the mikroICD debugger, check out the following first:
1. Check the USB connection. Replace USB cable and try another USB port. Make sure to double check the drivers you installed for the mikroProg (see the Device Manager and re-install them as administrator).
2. Check the power supply. Try adding external power supply. The hardware you use might not be getting enough voltage. Make sure to remove all the additional hardware that will drain power and cause the voltage to drop.
3. Check the project settings. Go to Project - Edit Project and check ICD connection channel, and also if the ICD is set to ENABLED.