Here's a procedure for the reconfig of rootdg in the event
one of the nodes losses a drive containing rootdg.

   -------------------------------------------------------


Assume that your rootdg was made up of the single slice on internal 
secondary drive and the drive went bad. If you lost rootdg on reboot,
you would see the error.

VxVM general startup...
vxvm: Vold is not enabled for transactions
        No volumes started

and 

vxvm:vxrecover: ERROR: IPC failure: Configuration daemon is not accessible

At this point there are a couple of choices. You need to recreate
rootdg.

You could run vxinstall and encapsulate your primary drive or
initialize another internal drive.

You could replace the bad drive, go through format and repartition
a slice for rootdg and reinitialize this slice in rootdg.

We will first run through the scenario of creating a new slice
on a new internal drive or an exsisting internal drive. This
all depends on your specific configuration and available drives.

You would go through format and add the 5mb slice.
Here is an example:

node0# format
Searching for disks...done


AVAILABLE DISK SELECTIONS:
0. c0t0d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/dma@0,81000/esp@0,80000/sd@0,0
1. c0t1d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/dma@0,81000/esp@0,80000/sd@1,0
2. c1t0d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@0,0
3. c1t0d1 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@0,1
4. c1t1d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@1,0
5. c1t1d1 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@1,1
6. c1t2d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@2,0
7. c1t2d1 <drive type unknown>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@2,1
8. c1t3d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@3,0
9. c1t4d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@4,0
10. c1t4d1 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@4,1
11. c1t5d0 <SUN1.05 cyl 2036 alt 2 hd 14 sec 72>
   /io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,741464/ssd@5,0
12. c2t0d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@0,0
13. c2t0d1 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@0,1
14. c2t1d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@1,0
15. c2t1d1 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@1,1
16. c2t2d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@2,0
17. c2t2d1 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@2,1
18. c2t3d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@3,0
19. c2t4d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@4,0
20. c2t4d1 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@4,1
21. c2t5d0 <drive not available: reserved>
   /io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85/ssd@5,0
Specify disk (enter its number): 1
selecting c0t1d0
[disk formatted]


FORMAT MENU:
        disk       - select a disk
        type       - select (define) a disk type
        partition  - select (define) a partition table
        current    - describe the current disk
        format     - format and analyze the disk
        repair     - repair a defective sector
        label      - write label to the disk
        analyze    - surface analysis
        defect     - defect list management
        backup     - search for backup labels
        verify     - read and display labels
        save       - save new disk/partition definitions
        inquiry    - show vendor, product and revision
        volname    - set 8-character volume name
        quit
format> p


PARTITION MENU:
        0      - change `0' partition
        1      - change `1' partition
        2      - change `2' partition
        3      - change `3' partition
        4      - change `4' partition
        5      - change `5' partition
        6      - change `6' partition
        7      - change `7' partition
        select - select a predefined table
        modify - modify a predefined partition table
        name   - name the current table
        print  - display the current table
        label  - write partition map and label to the disk
        quit
partition> p
Current partition table (original):
Total disk cylinders available: 2036 + 2 (reserved cylinders)

Part      Tag    Flag     Cylinders        Size       Blocks
  0 unassigned    wm       0               0         (0/0/0)
  1 unassigned    wm       0               0         (0/0/0)
  2     backup    wm       0 - 2035     1002.09MB    (2036/0/0)
  3 unassigned    wm       0               0         (0/0/0)
  4 unassigned    wm       0               0         (0/0/0)
  5 unassigned    wm       0               0         (0/0/0)
  6 unassigned    wm       0               0         (0/0/0)
  7 unassigned    wm       0               0         (0/0/0)

partition> 7
Part      Tag    Flag     Cylinders        Size       Blocks
  7 unassigned    wm       0               0         (0/0/0)

Enter partition id tag[unassigned]: 
Enter partition permission flags[wm]: 
Enter new starting cyl[0]: 
Enter partition size[0b, 0c, 0.00mb]: 5mb
partition> l
Ready to label disk, continue? y

partition> p
Current partition table (unnamed):
Total disk cylinders available: 2036 + 2 (reserved cylinders)

Part      Tag    Flag     Cylinders        Size       Blocks
  0 unassigned    wm       0               0         (0/0/0)
  1 unassigned    wm       0               0         (0/0/0)
  2     backup    wm       0 - 2035     1002.09MB    (2036/0/0)
  3 unassigned    wm       0               0         (0/0/0)
  4 unassigned    wm       0               0         (0/0/0)
  5 unassigned    wm       0               0         (0/0/0)
  6 unassigned    wm       0               0         (0/0/0)
  7 unassigned    wm       0 -   10        5.41MB    (11/0/0)

partition>q


FORMAT MENU:
        disk       - select a disk
        type       - select (define) a disk type
        partition  - select (define) a partition table
        current    - describe the current disk
        format     - format and analyze the disk
        repair     - repair a defective sector
        label      - write label to the disk
        analyze    - surface analysis
        defect     - defect list management
        backup     - search for backup labels
        verify     - read and display labels
        save       - save new disk/partition definitions
        inquiry    - show vendor, product and revision
        volname    - set 8-character volume name
        quit
format> q
node0#

Now that we have the slice setup we run through the setup of rootdg.

       DISABLE TRANSACTIONS
node0# vxconfigd -m disable
node0# ps -ef | grep vxconfigd
    root    58     1 80 10:08:39 ?        0:01 vxconfigd
    root   520   328  4 10:35:09 pts/0    0:00 grep vxconfigd

       INITIALIZE DATABASE
node0# vxdctl init

       MAKE A NEW ROOTDG GROUP
node0# vxdg init rootdg

       ADD SIMPLE SLICE
node0# vxdctl add disk c0t1d0s7 type=simple
vxvm:vxdctl: WARNING: Device c0t1d0s7: Not currently in the configuration

(NOTE THIS WARNING IS NORMAL)

       ADD DISK RECORDS
node0# vxdisk -f init c0t1d0s7 type=simple

       ADD DISK NAME TO ROOTDG DISK GROUP
node0# vxdg adddisk c0t1d0s7

       ENABLE TRANSACTIONS
node0# vxdctl enable

       REMOVE FILE IF PRESENT
node0# cd /etc/vx/reconfig.d/state.d:ls
node0#install-db
node0#rm install-db 

NOTE: if the file install-db is there remove it. If it isn't
      don't worry about it.

node0#reboot

       NOTE: You must start the pdb to bring in the shared group.

node0# pdbadmin startnode en
Sep  6 10:53:12 node0 ID[SUNWcluster.reconf.1150]: Starting PDB; node 0 (node0)
joining the en cluster.
Starting SPARCcluster PDB software - joining the en cluster.
be0:  Using Onboard Transceiver
be0:  100 Mbps Link Up
be1:  Using Onboard Transceiver
be1:  100 Mbps Link Up
be0:  Using Onboard Transceiver
be0:  100 Mbps Link Up
be0:  Using Onboard Transceiver
be0:  100 Mbps Link Up
Sep  6 10:53:23 node0 ID[SUNWcluster.reconf.1100]: en cluster starting on node
0 (node0)
Sep  6 10:53:23 node0 ID[SUNWcluster.reconf.1100]: en cluster starting on node
1 (node1)
NOTICE: ID[SUNWcluster.dlm.2030] dynamic allocation limit = 0x02944000 bytes
NOTICE: ID[SUNWcluster.dlm.2040] bytes per lock: 0x40, resource 0x68, proc 0x5c,
 conv 0x50

Sep  6 10:53:28 node0 ID[SUNWcluster.ccmd.up.6010]: link between node 0 and
node 1 on net 0 is up
Sep  6 10:53:28 node0 ID[SUNWcluster.ccmd.up.6010]: link between node 0 and
node 1 on net 1 is up
Sep  6 10:53:33 node0 ID[SUNWcluster.reconf.1030]: en net 0 (be0) selected
Sep  6 10:53:35 node0 ID[SUNWcluster.cvm.6010]: cluster volume manager shared
access mode enabled
Sep  6 10:53:37 node0 ID[SUNWcluster.reconf.1920]: en node 1 (node1) is a
cluster member
Sep  6 10:53:38 node0 ID[SUNWcluster.reconf.1920]: en node 0 (node0) is a
cluster member
Sep  6 10:53:38 node0 ID[SUNWcluster.reconf.1940]: en cluster reconf #6
finished

node0# vxva &
862
node0# 

NOTE:  When the gui comes up it will import the shared group and
       you will also see all your ssa's.
       Also a vxdisk list will show all your devices.
       NOTICE THE SIMPLE SLICE FOR ROOTDG

node0# vxdisk list
DEVICE       TYPE      DISK         GROUP        STATUS
c0t0d0s2     sliced    -            -            error
c0t1d0s2     sliced    -            -            error
c0t1d0s7     simple    c0t1d0s7     rootdg       online
c1t0d0s2     sliced    shared01     shared       online
c1t0d1s2     sliced    shared16     shared       online
c1t1d0s2     sliced    shared02     shared       online
c1t1d1s2     sliced    shared15     shared       online
c1t2d0s2     sliced    shared14     shared       online
c1t2d1s2     sliced    -            -            error
c1t3d0s2     sliced    shared03     shared       online
c1t4d0s2     sliced    shared04     shared       online
c1t4d1s2     sliced    -            -            online
c1t5d0s2     sliced    shared05     shared       online
c2t0d0s2     sliced    shared06     shared       online
c2t0d1s2     sliced    shared11     shared       online
c2t1d0s2     sliced    -            -            online
c2t1d1s2     sliced    shared08     shared       online
c2t2d0s2     sliced    shared07     shared       online
c2t2d1s2     sliced    shared12     shared       online
c2t3d0s2     sliced    shared13     shared       online
c2t4d0s2     sliced    shared09     shared       online
c2t4d1s2     sliced    -            -            online
c2t5d0s2     sliced    shared10     shared       online
node0# 

If this is not an option you could run vxinstall
and encapsulate or initialize a drive and place it
in rootdg. This example show's encapsulation of primary
drive.

node0# vxinstall

Volume Manager Installation
Menu: VolumeManager/Install

  The Volume Manager names disks on your system using the controller
  and disk number of the disk, substituting them into the following
  pattern:

        c<controller>t<disk>d<disk>

  Some examples would be:

        c0t0d0  - first controller, first target, first disk
        c1t0d0  - second controller, first target, first disk
        c1t1d0  - second controller, second target, first disk

  The Volume Manager has detected the following controllers on your system:

        c0: io-unit@f,e0200000/sbi@0,0/dma@0,81000/esp@0,80000
        c1: io-unit@f,e0200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,74127a
        c2: io-unit@f,e1200000/sbi@0,0/SUNW,soc@3,0/SUNW,pln@a0000000,740f85

Hit RETURN to continue.

Volume Manager Installation
Menu: VolumeManager/Install

  You will now be asked if you wish to use Quick Installation or
  Custom Installation.  Custom Installation allows you to select how
  the Volume Manager will handle the installation of each disk
  attached to your system.

  Quick Installation examines each disk attached to your system and
  attempts to create volumes to cover all disk partitions that might
  be used for file systems or for other similar purposes.

  If you do not wish to use some disks with the Volume Manager, or if
  you wish to reinitialize some disks, use the Custom Installation
  option Otherwise, we suggest that you use the Quick Installation
  option.
Hit RETURN to continue.

Volume Manager Installation Options
Menu: VolumeManager/Install

 1      Quick Installation
 2      Custom Installation

 ?      Display help about menu
 ??     Display help about the menuing system
 q      Exit from menus

Select an operation to perform: 2


Volume Manager Custom Installation
Menu: VolumeManager/Install/Custom

  The c0t0d0 disk is your Boot Disk.  You can not add it as a new
  disk.  If you encapsulate it, you will make your root filesystem
  and other system areas on the Boot Disk into volumes.  This is
  required if you wish to mirror your root filesystem or system
  swap area.

Encapsulate Boot Disk [y,n,q,?] (default: n) y

Enter disk name for c0t0d0 [<name>,q,?] (default: rootdisk) 
 
  The c0t0d0 disk has been configured for encapsulation.

Hit RETURN to continue.

Volume Manager Custom Installation
Menu: VolumeManager/Install/Custom/c0
Generating list of attached disks on c0....

<excluding root disk c0t0d0>

  The Volume Manager has detected the following disks on controller c0:

  c0t1d0

Hit RETURN to continue.

Installation options for controller c0
Menu: VolumeManager/Install/Custom/c0

 1      Install all disks as pre-existing disks. (encapsulate)
 2      Install all disks as new disks. (discards data on disks!)
 3      Install one disk at a time.
 4      Leave these disks alone.

 ?      Display help about menu
 ??     Display help about the menuing system
 q      Exit from menus

Select an operation to perform: 4

Volume Manager Custom Installation
Menu: VolumeManager/Install/Custom/c1
Generating list of attached disks on c1....


  The Volume Manager has detected the following disks on controller c1:

  c1t0d0 c1t0d1 c1t1d0 c1t1d1 c1t2d0 c1t3d0 c1t4d0 c1t4d1 c1t5d0

Hit RETURN to continue.

Installation options for controller c1
Menu: VolumeManager/Install/Custom/c1

 1      Install all disks as pre-existing disks. (encapsulate)
 2      Install all disks as new disks. (discards data on disks!)
 3      Install one disk at a time.
 4      Leave these disks alone.

 ?      Display help about menu
 ??     Display help about the menuing system
 q      Exit from menus

Select an operation to perform: 4


Volume Manager Custom Installation
Menu: VolumeManager/Install/Custom/c2
Generating list of attached disks on c2....


  The Volume Manager has detected the following disks on controller c2:

  c2t0d0 c2t0d1 c2t1d0 c2t1d1 c2t2d0 c2t2d1 c2t3d0 c2t4d0 c2t4d1 c2t5d0

Hit RETURN to continue.


Installation options for controller c2
Menu: VolumeManager/Install/Custom/c2

 1      Install all disks as pre-existing disks. (encapsulate)
 2      Install all disks as new disks. (discards data on disks!)
 3      Install one disk at a time.
 4      Leave these disks alone.
 
 ?      Display help about menu
 ??     Display help about the menuing system
 q      Exit from menus

Select an operation to perform: 4


Volume Manager Custom Installation
Menu: VolumeManager/Install/Custom

  The following is a summary of your choices.

        c0t0d0  Encapsulate


Is this correct [y,n,q,?] (default: y) 

  The system now must be shut down and rebooted in order to continue
the reconfiguration.

Shutdown and reboot now [y,n,q,?] (default: n) y

Shutdown started.    Tue Jul 25 15:13:08 EDT 1995

Broadcast Message from root (console) on node1 Tue Jul 25 15:13:09...
THE SYSTEM IS BEING SHUT DOWN NOW ! ! !
Log off now or risk your files being damaged

showmount: node0: RPC: Program not registered
Changing to init state 6 - please wait
node0# 
INIT: New run level: 6
The system is coming down.  Please wait.


Rebooting with command:
Boot device: /io-unit@f,e0200000/sbi/dma@0,81000/esp@0,80000/sd@0,0  File and
args: 
SunOS Release 5.4 Version Generic_101945-33 [UNIX(R) System V Release 4.0]
Copyright (c) 1983-1994, Sun Microsystems, Inc.
configuring network interfaces: le0.
Hostname: node0
Configuring the /devices directory
soc0: port 0: Fibre Channel is ONLINE
soc1: port 0: Fibre Channel is ONLINE
Configuring the /dev directory
Configuring the /dev directory (compatibility devices)

  The Volume Manager is now reconfiguring (partition phase)...

  Volume Manager: Partitioning c0t0d0 as an encapsulated disk.

  The Volume Manager is now reconfiguring (initialization phase)...

  Volume Manager: Adding rootdisk (c0t0d0) as an encapsulated disk.

  The Volume Daemon has been enabled for transactions.
Adding volumes for c0t0d0...
Starting new volumes...
Updating /etc/vfstab...
Remove encapsulated partitions...

The Volume Manager will now set up your Boot Disk as a managed disk.

Saving original configuration...
4 blocks

  The system will now be rebooted.
syncing file systems... [22] [18] [9] done
rebooting...
Resetting...

node0# 

Now that the system is rebooted and primary drive is encapsulated
and in rootdg vxva will start and you will see the shared group.