I'm 6'1" at about 215lbs, seat HAS to be at higher position (once I set it there, I tried going back to the lower setting and it just didn't work) or my legs cramp, other than that, it's a perfect fit.
Weight isn't an issue, it's more your leg length (I'm a 32" inseam), the seat's adjustable up, but the pegs are fixed. Sit on one at a dealer and see how it feels.
We did a 10 hour trip on the skyline drive (pics are on here) and I was only mildly sore the next day (that could be my old age though, according to my kids).
I'm 6'3" at 225 with a 34"+ inseam. My buddies at work said I looked like a gorilla humping a football the day I rolled up on mine. I know an FJR or V-strom would probably look more proportional for guys our height, but this bike has been great and easy to ride. The 6R is actually a little bigger than the R6 or a CBR 600 and such. Who cares what you look like on it. It's about what's comfy and builds confidence for you.
I am 6' 3" and 310 pounds and i takes me. I say sit on one and see if it is comfortable. Remember that you are going to be riding it not something else and your opinion and comfort is all that matters. You also got to remember bikes have a weight limit