If you observe a sample of $(X_1,...,X_6)$ from which the $(0,0,...,0)$'s have been removed, the probability distribution of this sample is the original one divided by $1-p_{0,0,0,0,0,0}$, because of the truncation/censoring. This means that the probability of observing $(a,b,c,d,e,f)$ as a realisation of $(X_1,...,X_6)$ becomes
$$\dfrac{p_{a,b,c,d,e,f}}{1-p_{0,0,0,0,0,0}}$$
for all $(a,b,c,d,e,f)\ne (0,0,0,0,0,0)$. Therefore, the probability to observe $X_1=1$ in this censored sample is (with all probabilities referring to the unconstrained model)
$$\eqalign{
\sum_{(a,b,c,d,e)\in\{0,1\}^5} \dfrac{p_{1,a,b,c,d,e}}{ 1-p_{0,0,0,0,0,0}} &=\dfrac{\mathbb{P}(X_1=1,X_2,...,X_6\text{ unconstrained})}{1-p_{0,0,0,0,0,0}}\\ &=
\dfrac{\mathbb{P}(X_1=1) }{ 1-p_{0,0,0,0,0,0}}\\ &= \dfrac{p_1 }{ 1-p_{0,0,0,0,0,0}}}
$$
with similar identities for $X_2,\ldots,X_6$. From those identities, you can derive an estimate of $1-p_{0,0,0,0,0,0}$ by looking at the frequencies of $X_1=1$, $\mathfrak{f}_1$ say, $X_2=1$, $\mathfrak{f}_2$ say, &tc, and estimating $1-p_{0,0,0,0,0,0}$ by
$$1-\hat{p}_{0,0,0,0,0,0}=\frac{1}{6}\left\{ \frac{p_1}{\mathfrak{f}_1}+\cdots+\frac{p_6}{\mathfrak{f}_6}\right\}$$(which is biased but convergent). Hence, given this estimate of $p_{0,0,0,0,0,0}$ and an original sample size of $N$, you just have to add the proper proportion of $0,0,0,0,0,0$'s to your original sample, namely
$$\dfrac{N}{1-p_{0,0,0,0,0,0}}-N$$
which can be estimated by
$$N.\frac{1}{6}\left\{ \frac{\mathfrak{f}_1}{p_1}+\cdots+\frac{\mathfrak{f}_6}{p_6}-6\right\}$$(which is unbiased).
Here is a short R code illustrating the approach:
#generate vectors
N=1e5
zprobs=c(.1,.9) #iid example
smpl=matrix(sample(0:1,6*N,rep=TRUE,prob=zprobs),ncol=6)
#remove full zeroes
pty=apply(smpl,1,sum)
smpl=smpl[pty>0,]
#estimated original size
ps=apply(smpl,2,mean)
cor=mean(ps/rep(zprobs[2],6))
length(smpl[,1])*cor
Here is the result for one run:
> length(smpl[,1])*cor
[1] 99995.37
and if I switch to zprobs=c(.9,.1)
some runs are as follows:
[1] 99848.33
[1] 100063.3
[1] 100365
[1] 100118.3
[1] 99923.33
Obviously, a slight modification of the R code allows for dependent components as well.