Free upgrades are only for the same "major versions"... If you've purchased v5.0, you can get up to v5.7 for free. To get v6 however, you need to buy a new licence, but you will get all updates until there's another major revision that pushes the version to v7.
The download link for v6 is inside of the tester script. You have to install the tester to see if your server is ready to accept v6. Once that test is passed, the appropriate link will be given to you to download the demo version. You then have a 7-day demo licence. After that 7-day period, the licence expires and the functionality is somewhat crippled and a warning is displayed. At any time after the initial installation, you can buy a licence and you will be provided with an order number. Just feed that number to the script which will then take care of fetching a licence number which will activate the script. Please note that once you buy the licence, it is bought for the domain that the calendar is on, hence if you're using a development server with a different domain, the licence will be invalid once you deploy the script (Brian can fix it, but I find it easier to just hold off until you get the final domain).
Hope this clarifies things.
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