Cant tell ya on a R6,I ride a Liter bike. D211 gp 200/55 is a taller tire than the 190/55 and its a lil on the heavy side.. But it has never ending grip!
Generally no reason to experiment with the 200s on a middleweight unless you are wickedly fast, and even then they have their downsides. They're taller, a tiny bit heavier and thus more rotating weight. If you run stock geometry, you will probably want to raise your front ride height as well. Most people I know that run Dunlops do that on 06-10 R6's. I actually prefer the 190 UK DOTS over the 200 slicks. Could have been because I didn't adjust the geometry for them but the 190 UK DOTs are still baller edition. Best DOT tire you can run.