On open, does 6 go a volt higher and stay there (static high) until it hits the limit switch?
If it does, this is a good sign. The TDA should respond in synch with that, it has a gain of 100 so it should amplify the hell out of the 1V signal you see on pin 6 by sending pin 9 high and pin 12 low. Does it do this? (The Philips data sheet is really crappy so I am guessing about polarity)