I have done this with rc.local, and also with symbolic links to a script.
This is how to do it to rc.local.
Scroll to the bottom and add the following lines:
#Added to start tapeware
/usr/local/tapeware/twunxsvc -s
save exit, reboot.
Watch the console, the last thing you should see is the tapeware service is starting, followed by the service is running.