I'm thinking that 02 was the first year of the FI R6, but it might've been 03. And, if you're like me, I'd stay away from 1st year models. (Which is not to say that it'll give you problems... just... /me shrug).
Other than that, they're all about the same except for the rider position geometry. Get the one you feel fits your body the best.
--JamesT
