Hi, emil,
USB OTG ID is used to determine the role of USB OTG. The high level on USB_OTG_PIN means USB OTG works as a device, and low level means it works as a host. So if you wants it works a dual role, you have 2 ways to design USB OTG circuit.
(1) Only using one microUSB connector.
Please refter to i.mx51 evaluation board !
(2) Using one microUSB connector for device, and Using a USB HOST connector for USB Host.
Please refer to i.mx53 QSB evaluation board.
You can refter above 2 schematic, and select one usage for your USB OTG design of i.mx6 product.
See attachment ! SPF-26203_C3.pdf is the schematic of i.mx51 evk, the other is that of i.mx53QSB.
In addition, MFG Tools requires USB OTG on your board should work as a device.
Regards,
Weidong