crsd fails to startup on 2nd node

ISSUE : 
crsd fails to start on 2nd node after server reboot in 11gR2 RAC

NODE 1:

# crsctl check crs
CRS-4638: Oracle High Availability Services is online
CRS-4537: Cluster Ready Services is online
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online
However, after both server rebooted cluster ready service on second node does not start, but on first node it works fine.

NODE 2:

# crsctl check crs
CRS-4638: Oracle High Availability Services is online
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online

# crs_stat -t
CRS-0184: Cannot communicate with the CRS daemon.