Score one for the TAC (Juan Ramos). A solution for getting ACS to work with 6.0.2 is as follows (it assumes you know a little bit about ACE servers):
1) On the ACE server, define acting servers for the ACS.
2) Generate a new sdconf.rec and place it appropriately on the ACS.
3) Ensure that the DNS used by the ACE servers properly references the ACS.
4) Add the following parameters to CSU.cfg:
NUMBER config_sdi_async_response_timeout = 10;
NUMBER config_get_names_from_dns = 1;
NUMBER config_logging_configuration = 0x7fffffff;
5) Restart/start CiscoSecure with utils/kcs and utils/scs.