Have not myself and the books are not clear either (surprise).
According to the 7.0 installer guide page 207 you don't.
"Upgrades to MICS 7.0 are only supported from systems
running MICS 6.0 or 6.1 software. If you are running
software prior to MICs 6.0, obtain a MICs 6.1 upgrade
and perform an upgrade to that software first."
According to the upgrade tool Doc you need one.
"If your system is running any MICS software version from 4.0 to 6.0, inclusive, use the enclosed MICS 7.0 upgrade S/W cartridge to upgrade your system to a state where you can install the appropriate MICS 7.0 feature cartridge. (“Upgrade for MICS/CICS systems running software prior to, and including, 6.0” on page 3)