Hi, just joined so hopefully you have found help. I have worked with 6120, 6225 & 7020 machines. I was looking for a 6000 series manual download and could not find one for you. The programming is pretty intuitive on the machines themselves and I have never cracked open the manuals. (shame...) If you have some specific questions, their support department has been really great.
You can message me if you want their email.