Hi,
in chapter 5.2 'Defining the logical system and business system for SAP TM in SAP EWM' of the above mentioned guide there is a note giving the answer to your question.'If SAP EWM and SAP TM are installed on the same system and use the same client you do not have to do anything here'.
Please read the guide carefully, usually there are notes explaining what needs to be done depending on the deployment option you are using.
Regards,
Jan