I had the same problem when i had my (56) few years back when the battery was changed. Its a common issue and their is a couple of ways around it. Disconnect battery again then reconnect start engine and turn the steering full lock side to side a few times, some says it works but never did for me.
The method i used and also have used on my mk2 i now have is after reconnection start engine and go for a drive where you can set the cruise control for about 3 miles without switching it off and that has always worked for me.
Try this site where us 6 owners hang out plenty of tips on the same issue your having
www.mazda6oc.co.uk/forum/
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