The only somewhat supported method is to use passthrough with an Adaptec parallel SCSI attached tape or autoloader. Since most tape drives today are SAS you are pretty much on your own unless the manufacturer provides direct support for your device. Some do. It is also possible to us VMdirectpath if your hardware supports it.
VMDirectpath www.vmware.com/resources/techresources/10170
I would search the forums using your tape device or SAS / SCSI controller for pointers to configuring your hardware.