After configuring Collection URL Test Connection is Succeeded Via SOAP API
Mange Jenkins -> Configure System -> TFS/Team Services

Where as while running my build am getting error message as follows

Building in workspace C:\Program Files (x86)\Jenkins\workspace\InitialConfiguration
Querying for remote changeset at '$/Portals/Dev/path' as of 'D2016-12-16T11:02:53Z'...
FATAL: com.microsoft.tfs.core.exceptions.TFSUnauthorizedException: Access denied connecting to TFS server http://servername:8080/ (authenticating as username@companyname.com)
java.lang.RuntimeException: com.microsoft.tfs.core.exceptions.TFSUnauthorizedException: Access denied connecting to TFS server http://servername:8080/ (authenticating as username@companyname.com)
at hudson.plugins.tfs.model.Server.execute(Server.java:226)
at hudson.plugins.tfs.model.Project.extractChangesetNumber(Project.java:272)
at hudson.plugins.tfs.model.Project.getRemoteChangesetVersion(Project.java:268)
at hudson.plugins.tfs.model.Project.getRemoteChangesetVersion(Project.java:284)
at hudson.plugins.tfs.TeamFoundationServerScm.recordWorkspaceChangesetVersion(TeamFoundationServerScm.java:359)
at hudson.plugins.tfs.TeamFoundationServerScm.checkout(TeamFoundationServerScm.java:308)
at hudson.model.AbstractProject.checkout(AbstractProject.java:1278)
at hudson.model.AbstractBuild$AbstractBuildExecution.defaultCheckout(AbstractBuild.java:604)
at jenkins.scm.SCMCheckoutStrategy.checkout(SCMCheckoutStrategy.java:86)
at hudson.model.AbstractBuild$AbstractBuildExecution.run(AbstractBuild.java:529)
at hudson.model.Run.execute(Run.java:1720)
at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
at hudson.model.ResourceController.execute(ResourceController.java:98)
at hudson.model.Executor.run(Executor.java:404)
Caused by: com.microsoft.tfs.core.exceptions.TFSUnauthorizedException: Access denied connecting to TFS server http://servername:8080/ (authenticating as username@companyname.com)
at com.microsoft.tfs.core.exceptions.mappers.TECoreExceptionMapper.map(TECoreExceptionMapper.java:72)
at com.microsoft.tfs.core.exceptions.mappers.VersionControlExceptionMapper.map(VersionControlExceptionMapper.java:43)
at com.microsoft.tfs.core.clients.versioncontrol.internal.WebServiceLayer.queryHistory(WebServiceLayer.java:1589)
at com.microsoft.tfs.core.clients.versioncontrol.internal.WebServiceLayerLocalWorkspaces.queryHistory(WebServiceLayerLocalWorkspaces.java:1254)
at com.microsoft.tfs.core.clients.versioncontrol.VersionControlClient.queryHistory(VersionControlClient.java:4264)
at hudson.plugins.tfs.model.MockableVersionControlClient.queryHistory(MockableVersionControlClient.java:254)
at hudson.plugins.tfs.commands.RemoteChangesetVersionCommand.call(RemoteChangesetVersionCommand.java:65)
at hudson.plugins.tfs.commands.RemoteChangesetVersionCommand.call(RemoteChangesetVersionCommand.java:33)
at hudson.remoting.LocalChannel.call(LocalChannel.java:45)
at hudson.plugins.tfs.model.Server.execute(Server.java:222)
... 13 more
Caused by: com.microsoft.tfs.core.ws.runtime.exceptions.UnauthorizedException: Authorization failure connecting to 'http://tfsca2:8080/tfs/CarePro/VersionControl/v1.0/repository.asmx' (authenticating as username@companyname.com)
at com.microsoft.tfs.core.ws.runtime.client.SOAPService.examineHeadersForFederatedAuthURL(SOAPService.java:1064)
at com.microsoft.tfs.core.ws.runtime.client.SOAPService.executeSOAPRequestInternal(SOAPService.java:649)
at com.microsoft.tfs.core.ws.runtime.client.SOAPService.executeSOAPRequest(SOAPService.java:444)
at ms.tfs.versioncontrol.clientservices._03._RepositorySoap12Service.queryHistory(_RepositorySoap12Service.java:1503)
at com.microsoft.tfs.core.clients.versioncontrol.internal.WebServiceLayer.queryHistory(WebServiceLayer.java:1573)
... 20 more