This might be getting there, treat it as a drill, chip-break operation, full retract, set peck depth to thread depth minus the 5mm for tapping clutch, pause before retract to allow clutch to disengage then retract.

I se for a 6mm x 1mm thread so i chose 500 rpm and 500mm/min feed should match the pitch rate of 1mm/rev ??

Only issue i see here is that it rapids out as G0, will look at that.

Code:
(1)(T10  D=6.1 CR=0. TAPER=118DEG - ZMIN=-5. - DRILL)
G90 G94 G91.1 G40 G49 G17
G21
G28 G91 Z0.
G90


(DRILL2)
M5
M9
T10 M6
S500 M3
G54
M7
G0 X0. Y0.
G43 Z16. H10
Z2.
G1 Z-5. F500.
G4 P4.
G0 Z6.
Z16.


M9
G28 G91 Z0.
M30