Operating System: Mac OS X 10.7.3
Ok, with no luck of help from Sencha experts I managed to find the issue. By default SDK installer will install tools into /Applications folder. In order for sencha command to work with Touch 2 the SDK tools must be installed into /Users/[user_name]/Applications or any other dir under user acc.
Hope this will help other people with the same problem I had.
If everything is ok then command output will be as following:
Sencha Command v2.0.0 for Sencha Touch 2Copyright (c) 2012 Sencha Inc.
sencha [module] [action] [arguments...]
sencha fs minify --from app.js --to app-minified.js --compressor closurecompiler
app Resolve application dependencies and build for production
fs A set of useful utility actions to work with files. Most commonly used actions are: concat, minify, delta
manifest Extract class metadata
test Unit testing using Jasmine
generate Automates the generation of projects and files
package Packages a Sencha Touch 2 application for native app stores