You can use expl3 and extract the items from the list by number.
\documentclass{article} \ExplSyntaxOn \NewDocumentCommand{\F}{m} { \int_compare:nF { \clist_count:n { #1 } = 6 } { \ERROR } [F \sp { \clist_item:nn {#1}{1} \clist_item:nn {#1}{2} \clist_item:nn {#1}{3} } \sb { \clist_item:nn {#1}{4} } ] \sp { \clist_item:nn {#1}{5} } \sb { \clist_item:nn {#1}{6} } } \ExplSyntaxOff \begin{document} $\F{a,b,c,d,e,f}$ \end{document}

A different (and more efficient) strategy would be to replace {a,b,c,d,e,f} with {a}{b}{c}{d}{e}{f}, which can be done in the following way: with \clist_map_function:nN we can use a function that braces the item; so from a,b,c,d,e,f we can expand the mapping at once and so \gert_f:n will be called as
\gert_f:n { {a}{b}{c}{d}{e}{f} }
and it can pass the argument to the “internal” six argument function.
\documentclass{article} \ExplSyntaxOn \NewDocumentCommand{\F}{m} { \int_compare:nTF { \clist_count:n { #1 } = 6 } { \gert_f:e { \clist_map_function:nN { #1 } \__gert_f_brace:n } } { \ERROR } } \cs_new_protected:Nn \gert_f:n { \__gert_f:nnnnnn #1 } \cs_generate_variant:Nn \gert_f:n { e } \cs_new_protected:Nn \__gert_f:nnnnnn { [F \sp { #1 #2 #3 } \sb { #4 }] \sp { #5 } \sb { #6 } } \cs_new:Nn \__gert_f_brace:n { {#1} } \ExplSyntaxOff \begin{document} $\F{a,b,c,d,e,f}$ \end{document}
In either case you have just one place where applying changes if a different output style is decided upon.
The error checking is just hinted at and something more detailed can be added easily.
If you plan to have empty items, then you need to split the list into a sequence, so empty items will not be discarded.
\documentclass{article} \ExplSyntaxOn \NewDocumentCommand{\F}{m} { \seq_set_split:Nnn \l__gert_f_seq { , } { #1 } \int_compare:nTF { \seq_count:N \l__gert_f_seq = 6 } { \gert_f:e { \seq_map_function:NN \l__gert_f_seq \__gert_f_brace:n } } { \ERROR } } \seq_new:N \l__gert_f_seq \cs_new_protected:Nn \gert_f:n { \__gert_f:nnnnnn #1 } \cs_generate_variant:Nn \gert_f:n { e } \cs_new_protected:Nn \__gert_f:nnnnnn { [F \sp { #1 #2 #3 } \sb { #4 }] \sp { #5 } \sb { #6 } } \cs_new:Nn \__gert_f_brace:n { {#1} } \ExplSyntaxOff \begin{document} $\F{a,b,c,d,e,f}$ $\F{a,,c,d,,f}$ \end{document}
