This link https://www.ni.com/pdf/manuals/374371a.pdf with its May 2014 makes it appear that the 6002 might have come out just a couple years after LV 2012. So really close in time.
I'd suggest that if you used the latest DAQmx that still support LabVIEW 2012. DAQmx 15.5.1.
It was hard to fine because NI likes to update their KB articles and clear out the older information. I found this at https://www.ni.com/en-us/support/documentation/compatibility/16/ni-daqmx-and-labview-compatibility.h... but it didn't go back far enough. When I clicked on the link at the bottom to look at the Excel file, it was much more complete. 15.5.1 would have come out in later 2015, or early 2016, which is certainly late enough to have had 6002 support added.
So if you use this 6002 device with DAQmx 15.5.1 on LabVIEW 2012, I think you'll be fine.
