If you were paid by an insurance company 6 years ago to get a new roof but did not and now have a different insurance company on the same house can you make a claim on the roof with new company?

You can make a claim, but if you are claiming the same damages that is insurance fraud and it is a federal crime. If you have unrelated damages you can make a claim, or you can disclose the prior claim to your insurance carrier and they will advise you if there is any coverage that would apply.