I don't know much about the hook up for IR tanks, but if you swap the cables and get throttle on left and steering on right I think it's a lot easier to figure out the rest. All the instructions on clarks site are geared to that configuration and you can always go back after you get things sorted out. I also don't know the D6 so I can't help you there, but I do know you might have to reverse certain servo channels to get things right.