Gateway unable to connect to Management server

Hi,

We are currently having an issue with one of Gateway servers which is not able to connect to RMS server. We had tried re-issuing the Root certificate and the other client certificates as per http://www.definit.co.uk/2012/01/troublewithscom2007r2certificates/ 

But still we have the same issue. PSB the events being triggered on the G/W server.

Log Name:      Operations Manager
Source:        OpsMgr Connector
Date:          6/4/2014 8:21:07 AM
Event ID:      20067
Task Category: None
Level:         Warning
Keywords:      Classic
User:          N/A
Computer:      XXXXXX
Description:
A device at IP RMS IP:5723 attempted to connect but the certificate presented by the device was invalid.  The connection from the device has been rejected.  The failure code on the certificate was 0x800B010A (A certificate chain could not be built to a trusted root authority.).

Log Name:      Operations Manager
Source:        OpsMgr Connector
Date:          6/4/2014 8:21:07 AM
Event ID:      21002
Task Category: None
Level:         Warning
Keywords:      Classic
User:          N/A
Computer:      XXXXXX
Description:
The OpsMgr Connector could not accept a connection from RMS IP:5723 because mutual authentication failed.

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Jesty