If you have not already done so, you will need to download and install the full featured version of AirPort Utility 5.6 for Mac OS X Lion
Then open Macintosh HD > Applications > Utilities > AirPort Utility 5.6
Click Manual Setup
Click directly on the word Status (2nd line) and a window will open to explain why the Time Capsule is complaining....along with suggestions to remedy the issue. It might be something as simple as a message that an update is available for the Time Capsule.
Suggest that you keep both AirPort Utility 5.6 and 6.0 on your Mac. (You cannot delete AirPort Utility 6.0)