Control head compatibility

I currently have an Autohelm Type 100 autopilot controlled by a ST6000+ control head. Works great. I would like to upgrade the control head to a Raymarine p70R if the system/unit is compatible. Q1: Is it compatible? Q2: if it's compatible, can it interface with my Garmin 1242 xsv plotter over the Garmin NMEA 2000 network? Need any adapters?

Thanks for your help.