The Agent received no configuration from the Consolidator. This condition may occur if a new Agent starts up before the consolidator has updated its internal rules cache. It may also mean that the Consolidator no longer has any information about the agent, possibly because the Agent Manager has not been able to contact the agent for an extended period.

If none of the above is true and this message recurs, contact Technical Support at support@Microsoft.com.

I've tried restarting both machines but I’m still seeing the error.

Contributed By: Nissim Ben-Maor [MVP MOM]
If you are using manual agent installation and you choose the "NONE" option, then you must manually add the new computer to the computers groups in order for the new agent to receive rules from the DCAM.