The link works fine for me. (You need to be signed into cisco.com as a registered user to use that link.)
Your basic configuration looks fine.
To connect to the devices, map out a cheat sheet with lines to ports. Each physical line will have a separate tcp port starting at 2001 for async port #1 etc. (I believe "show lines" will list them for you.) You can then log into the terminal server and specify the tcp port for your telnet or ssh session to be redirected to the attached device's console.
The shortcut suggested in the link above is to use commands like:
ip host 3600-3 2014 172.21.1.1
!--- The host 3600-3 is connected to port 14 of the comm server.
!--- Ensure that the IP address is that of an interface on the comm server.
Your cables shoud all go to the downstream devices' console ports.
