I have exactly the same error. 6.0.1 OTA installation attempt results in "Error" with tiny Android robot on its back. If I Power + tap Vol Up, It does tell me that there is unexpected info in the existing install.
I had flash installed the factory image of stock 6.0 months ago using Nexus Root Toolkit. The phone is unlocked. I see the unlocked padlock icon on the firstbootup flash screen. My goal was to just get stock Android 6.0 at the time, but not any kind of modified version.
The 6.0 installation works great, no issues.
Build number MRA58K
Android Security Patch level October 1, 2015. (Is that a problem?... that's several months ago)
I understand that could flash 6.0.1 factory image to the phone which would result in a factory reset situation, losing my settings, data, etc.
My question is, when I flashed 6.0 does that mean that my phone will never get OTA updates that can install? If I flash 6.0.1 will that still be the case - no future OTA updates?