VB6 is not that similar to .NET - although you can use some VB6 code directly in a .NET application, the reverse is not true: you can use
NO .NET specific code in a VB6 application.
You would either have to rewrite your newer code in VB6, using the software as a "template" to guide you, or install .NET on XP machines.
.NET V4 can be installed on XP machines:
Installing the .NET Framework 4 on Windows XP | .NET Blog[
^] so if you target your software to V4 or below, you can run the more mordern software directly without change (provided that it's built for x86 or you are running an 64 bit version of XP)