@user2291942
I was receiving this error when I was trying to integrate TFS 2012 Update 2 with TFS 2010 build servers. I knew that 2012 Update 2 was designed to allow this, but I had configured the controller on the Application Tier Server (as I think many people do), which is obviously running TFS 2012 Update 2.
To correct this, I configured a TFS 2010 server as a build controller that connects to the TFS 2012 Update 2 Application Tier / Repository. Then, when creating build agents and attaching them to that controller, the issue was resolved.
Hope this helps!