I have used these in the past. Just sold a pair on ebay last month.
Powermid
Or maybe the newer version
PowermidXS
There are better, more complicated/expensive/B&O compatible versions out there. The issue is these are not "B&O compatible" but as you are using a Beo6 you would most likely be using Onkyo codes via Beo6 and not B&O codes so I'd think it would work.
Stoobie