Hi Mike,
SRM 5.1 does not require a separate VRMS and VRS. If you deploy VR 5.1 from SRM 5.1, and do not use an existing standalone VR appliance, you still deploy a single appliance (that contains both a VRMS and a VRS) that is ready for use without any further configuration. SRM does allow you to deploy one or more additional VRS for load balancing purposes, but this is entirely optional.
So, normally, it should not matter whether you installed VR 5.1 as a standalone appliance or whether you installed it from SRM 5.1. To all intents and purposes, it is exactly the same appliance. Have you tried looking for VR in the vSphere Web Client rather than in the SRM interface? If vSphere Replication does not show up in the Web Client, then it could be that the VR appliance has not registered itself with vCenter Server or that the VR service is not running, which could be due to a network issue.
If VR shows up in the vSphere Web Client then VR is running correctly and the problem is indeed with the connection with SRM.
Thanks,
stuart