Unfortunately, this type of error is common with Yosemite (10.10.x), since there are still a number of networking bugs in the operating system.
The following might help this issue, but there are no guarantees:
On your Mac, open System Preferences (gear icon on the dock)
Open Network
Click on WiFi on the left side of the window to highlight it
Click Advanced at the lower right side of the window
Click the TCP/IP tab
Make sure that the setting for Configure IPv6 is set to Link Local Only
Click OK
Click Apply in the next window that appears
Then, repeat the exact same sequence by clicking on Ethernet to highlight it and following the same steps
Next, Open System Preferences again, if it is not already open
Open Sharing
Make sure that the name of your Mac appears correctly here, and that there is not a (2), (3), (4), etc appearing after the name of the Mac. If there is, edit the name so that it appears correctly
Restart your Mac
Power off the Time Capsule, wait a few seconds, then power it back up again
Post back on your progress in having the Time Capsule appear in AirPort Utility, as another setting on the Time Capsule needs to be checked and likely changed.