You could do this as double sums, since you can calculate $P(X=x \text{ and }Y =y)$.
$$E(Y|X \geq 1) = \dfrac{\displaystyle \sum^{5}_{y=0} \sum^{6-y}_{x=1} y\,P(X=x \text{ and }Y =y) }{\displaystyle \sum^{5}_{y=0} \sum^{6-y}_{x=1} \,\,\,P(X=x \text{ and }Y =y) }$$ though you may prefer the equivalent $$E(Y|X \geq 1) = \dfrac{\displaystyle \sum^{6}_{x=1} \sum^{6-x}_{y=0} y\,P(X=x \text{ and }Y =y) }{\displaystyle \sum^{6}_{x=1} P(X=x ) }$$
and in both cases the denominator is $\displaystyle P(X \geq 1)$.