Access azure pipeline artifact using Azure CLI shows error: "TF401444: Please sign-in at least once

I have created a service principal using Azure CLI (Command: az ad sp create-for-rbac --role contributor --scopes /subscriptions/mySubscriptionID). I have written a script which used service principal for login and use "az pipelines" command to download artifact from pipeline. If I run the script, I get an error "TF401444: Please sign-in at least once as .... in a web browser to enable access to the service". Can you help us to know why this error happens and a way to solve this issue. If the script is run on a machine in which azure login is done before (Using PAT token) then the script is working fine without any error.