Why is that the M6 performing better despite the weight and the less powerful & torquy engine ?
The reason is quite simple.It is because of the VERY EFFICIENT GEARING that the M6 has+wider power band.Yes,SL63 AMG has more torque but with that long ratios of the gearbox after 3rd gear and also a long final drive ratio(3.06:1) it can not use it's engine torque as effevtively as M6 does.In fact if you give a simple calculation you will find that even in 5th,6th and 7th gear, M6 can have more torque at it's wheels than the long-geared SL63.For example:
If we consider drivetrain looses zero for both cars we will have:
In 5th gear for M6 we will have: 1.159 x 3.62 = 4.19558 (Overall Ratio in 5th)
For SL63: 1.0 x 3.06 = 3.06 (Overall ratio in 5th)
Now if we multiply the engine torque by overall ratio we will have?
For M6: 4.19558 x 520 = 2181nm
For SL63: 3.06 x 630 = 1927nm
So it is clear that M6 has more torque at it's wheels and it can accelerate better in this gear.
Now if you follow the same for 6th and 7th gear,you see for yourself that the difference becomes even more.In 1st,2nd,3rd and 4th gears,SL63 has a little more torque at it's wheels due to well-chosen ratios and so it maybe a little faster or equal to 100km/h in some road tests(4.5s vs 4.6s or 4.7s vs 4.7s) but after that M6 pulls on it because of the better ratios of the following gears.If M6 was not that heavy it could outrun SL63 from 0-100km/h too.Unfortunately most people only look at engine torque when comparing two cars and that's the reason most of the time they see very unexpected results in flexibility and performance.Short gearing is one of the reasons that make the heavy NISSAN GT-R so fast and flexible too.
It is better to consider all factors and not just the engine torque or horsepower alone.The factor i mentioned here is very important but there are also some other factors such as WHEEL DIAMETER,DRAG COEFFICIENT,TORQUE CURVE,ACCELERATION FORCE,TRACTION and so on that can affect on acceleration and tractability.
I hope my explanations are of some help to you.