Not knowing the entire dial-plan, it's hard to pin point.
You can do several things on the call manager, specify calling space. and patition etc.
One simple thing you can try is
on the Vg200, specify a voip dial-peer as following:
dial-peer voice 100 voip
desttination-pattern 6001
incoming called-number 6003
session target ipv4:( call-manager ipadd)