There's a couple of issues that cause this. First off though, make sure you installed the cryptocard client and server BEFORE you installed ACS, if you didn't, then uninstall both, reboot, then install cryptocard then install ACS.
Other than that, try the following:
When CiscoSecure is installed, it copies an older version of the ccauthen.dll to the Authenticators directory in CiscoSecure. The solution is to copy the winnt\system32\ccauthen.dll to the CiscoSecure\Authenticators directory, and restart all the ACS services (or reboot is probably better).
Other than that, modify c:\winnt\system32\cryptocard.cfg file change: localhost to 127.0.0.1 (assuming you have the cryptocard server installed on the same machine as ACS, that is).