All six cluster nodes will need to be zoned to see the tape library.
The ADAMM server in a SSO environment is refered to as the 'Primary' server. The Primary server contains the device database, media database, and catalog. The other servers are 'secondary' servers. The secondary contains copies of the Primaries database, but stay in constant connection to the primary in order to operate. Secondary server Jobs do not run through the primary- that is to say jobs are local to the secondary, but they use the common database on the primary to query tape drive and media status.
It would be hard for Veritas to write a start to finish configuration guide for what you're doing because there are so many ways to configure it. However, there is good data in the Administrators manual for both cluster configuration and SSO configuration.