How do I configure a Jenkins job to read code from the TFS Repo

Cannot get Jenkins job to read code from TFS repo.

Error received:

The SOAP endpoint could not be contacted. Can someone please make a suggestion on how to resolve this?

You don’ provide anywhere near sufficient details to provide a proper answer (ie: git or tfvc repos), but in all likelihood you have not properly specified the connection url.; ie:

https://tfs02.codeplex.com ,
https://fabrikam-fiber-inc.visualstudio.com ,
http://tfs:8080/tfs/DefaultCollection