another problem are Im seeing different types of ST4000

I have one but its a plastic ring thing with an internal belt drive on the wheel for wheel steer/ Others are linear drives on the rudder stock. The motor in my 4000 is the same as the tiller pilot. They get away with that because the steering effort on the Edson is light yet it produces 860 lbs at the rudder, enough mechanical effort to replace a 21ft tiller.

What it allows you to do is clutch the drive with a lever to take tension off the belt so you can manually steer, and if you use linear drives you have to sort that out too or use electric steering transmission. Im not sure how thats done even on raymarine. I think it might be a pull cable and a pin which you have to reset when you wish to re-engage AP

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