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

If you are seeing XYZABC rather than 0123456789 then you are already in World mode.
You can toggle between the two with the $ shortcut, or from the "View" menu.

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?

I think that genserkins is rather computationally intensive.
Does the other Puma sim (which uses Pumakins) work better?

It is possible that the BBB does not have enough CPU power (or, specifically enough floating-point performance) to use Genserkins.

Yes, the Puma (use Pumakins) works normal

This does sound like a CPU issue then. Can you monitor the CPU load?

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