Core issue
This issue occurs due to the presence of Cisco bug ID CSCsd41866.
In CiscoSecure ACS for Windows version 4.0(1.27), Password Authentication Protocol (PAP) authentication against the Rivest, Shamir, and Adelman (RSA) server fails when the new PIN mode is invoked. When the RSA One-Time Password (OTP) server is configured as the external user database, and new PIN/Clear mode is invoked by the RSA server, PAP authentication through a Telnet session fails. The RSA server forces a user to define a new PIN. However, a new PIN is not sent to the RSA server, and the authentication fails. In CiscoSecure ACS for Windows 3.3.3.11, the same users and configuration work fine without any errors.
Resolution
As a workaround, a patch must be applied to the CiscoSecure ACS for Windows. In order to gain access to the patch, contact Cisco Technical Support.
Cisco Secure Access Control Server (ACS)
ACS for Windows version 4.0