The 6 Ohm setting will reduce the rail voltage which by consequence will reduce the available current. It is for UL listing purposes so that the receiever doesn't try to deliver more current than it can reliably do so and get too hot and shut down (or in dire circumstances start a fire). The usual advice is to leave the setting at 8 Ohms and watch the volume. If it gets too hot, turn it down. Since the front three speakers are 8 ohm it really shouldn't be necessary to set the switch at 6 Ohm but for peace of mind you may want to do so.
Either way...you aren't likely to notice much difference given that only the surrounds are 6 Ohm and they don't get much action anyway.