In order for ACS integration to work, all devices that are managed by LMS must also be TACACS+ clients of the ACS server into which LMS is integrated. They DO NOT have to actually authenticate to that server, but that ACS must be aware of these devices.
Additionally, if you are assigning NDGs to LMS users, those users need to have access not only to the NDG(s) that contain the devices, but also to the NDG that contains the LMS server itself.
See this thread for more details on how to do an ACS integration. This guide was originally written by one of our TAC guys, and it has helped many users successfully integrate LMS with ACS.
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