Cloned openocd from the openrisc github.
Executed the below command.

$sudo ./src/openocd -f jtag_vpi.tcl

Open On-Chip Debugger 0.7.0-dev-g40a1300-dirty (2019-03-31-19:57)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
Info: only one transport option; autoselect 'jtag'
adapter speed: 30000 kHz
Set server port to 50020
Connection to 127.0.0.1 : 50020 failed
Couldn't connect to JTAG server...
shutdown command invoked

Thanks
Prudhvi