Tom, I installed a 6000 on my H34.
I used the Edson tiller arm and mounted it just above the quadrant. A couple of things I noticed in the project forum from the other Tom. His clamp-on tiller arm has no provision for a securing through-bolt. The Edson arm is silicon-bronze and recommends/requires a through-bolt. DO IT! Also the Edson arm matches the 12" length needed for my drive motor. Also the other Toms' photos don't show his motor wiring completed. As such, I would suspect that he had to cut away part of the adjacent support bulkhead that the drive unit is close to. The 'drive' will swing and point more aft at maximum travel.As far as my install goes, it's kinda historic. I installed it. I was the very first person allowed to do this by Autohelm. My boat was new in '86. I ordered it and did the outfitting. I installed a 5000. That was my only choice then because it could be owner installed. I wasn't going to pay big bucks for a tech to do the work needed to install a 6000. Well, I bought the 5000 from West Marine. It completely SUCKED. I returned it and demanded a 6000. They freaked. They couldn't sell me a 6000. Dealer only! The store manager called the home office in Santa Cruz. That week they had a corporate head meeting between Autohelm and West Marine. They decided that WM would be allowed to sell the 6000 to me if they backed it will service. Randy Repass agreed to create a electronics service department. I was shipped my 6000 and installed it. A company rep had to inspect it and sign off. He did. Said my work was better than most of their dealers.

So, have fun installing your 6000, and you're welcome.

Oh, except for repairs needed after a lightening strike, my 6000 has been perfect. Interfaced with GPS & laptop too. Wouldn't even day-sail without it.