world mode and genserkins problem

I have some problems when i try configuring custom arm robot 6DOF. hope someone can help me resolve these.

1st. i run PUMA560 sim but i dont know how to open "world mode" from AXIS GUI.if anyway to use "world mode" in manual control

2nd: i used genserkins to configure a new custom arm robot and compare to the one i configure in matlab. They are difference about coordinate, look like the origin coordinate was rotated. i think the one from genserkins is incorrect.
The genserkins Parameters are:
etp genserkins.A-0 150
setp genserkins.A-1 460
setp genserkins.A-2 120
setp genserkins.A-3 0
setp genserkins.A-4 0
setp genserkins.A-5 0

setp genserkins.ALPHA-0 -1.570796326
setp genserkins.ALPHA-1 0
setp genserkins.ALPHA-2 -1.570796326
setp genserkins.ALPHA-3 1.570796326
setp genserkins.ALPHA-4 -1.570796326
setp genserkins.ALPHA-5 0

setp genserkins.D-0 0
setp genserkins.D-1 0
setp genserkins.D-2 0
setp genserkins.D-3 720
setp genserkins.D-4 0
setp genserkins.D-5 0

thank for your answer, i already solved them. but i have a the new problem, when i try run the PUMA560 sim that use genserkins and use world mode in manual or MDI mode. the BBB is freezing, CPU overload. I dont know the reason. Does this simulation have error or i lack something?

Yes, the Puma (use Pumakins) works normal

the axis GUI load so slow when i run in world mode. it's delay about 1-2s for each jog. i think BBB is not enough fast to compute genserkins