The new 7.6.3 firmware and 6.2 utility is supposed to provide WPS which is probably what the printer is requesting to do connection.. but you can use WPS without the new firmware. WPS is available.. just tricky to get at.
The manual setup method suggested in the above article is the best.. just plug the printer into the computer by usb and use the setup disk that came with the printer.. I have done a few of these and it works fine.
I do recommend before you start.. setup TC with SMB type names.. ie short, no spaces and pure alphanumeric.