Sounds like you’re describing two different issues .
One being : you attempted to cycle a program 3 times but it stops at 2
I would check the registers and their counts
The if statements
Problem two: you can’t reach a point when using world and you can in joint ?
In joint movement . You’ll notice you move one joint at a time
And in world you’ll notice the joints all move together maintaining a certain posture . I believe you’re likely reaching the limits of a particular joint when moving in world mode which limits its movement when a particular joint of the robot hits its limits .