Hi Rajendra,
First you need to add the database you intend to connect underneath the server (tmsap in your case). when you add the database you should be able to see it in the tree structure.
To connect to the db you need to define at least a login using a database user.
You can connect to db using: CONTROL, SAP<SID> and SUPERDBA
The password is the same as the master installation password.
Regards,
Shahab