HA agent on ESXi host in cluster NAM in GDC virtual data center has an error: Cannot complete the HA configuration error 4/9/2013 7:18:47 AM Reconnect host

VMware cluster operational status shows me the below:-

ESXi host : Secondary Role : HA Issue - HA agent on ESXi host in VMware cluster in the Virtual Data center has an error: Cannot Complete the HA configuration.

Any help  is highly appreicated!!!