If it is convenient to you, I will visit you at 6.

(In this sentence, what does 'it' refer to? Is 'it' the impersonal pronoun?)

Often the pronoun "it" doesn't refer to anything in particular ... as is the case here. It's an impersonal pronoun, yes, because "it" doesn't refer to obvious masculine (he, him, his) or feminine (she, her, hers) antecedents.