OK, I tried the following steps after reading through the instructions again and finding the correct pages on the Westell 6100 since my displays look nothing like the verizon examples...
changed DSL modem from PPoE to bridge in its VC Config page by editing PPoE VPI 0, VCI 35 protocol to 'bridge' and mode to 'routed bridge' per the Verizon page. there were other 'bridge' entries in that list with VCI's from 36 - 41 but i did not enable them. also disbled the Private LAN DHCP server as noted in the verizon instructions.
On the USR i went to internet tab and selected DSL Modem instead of DSL Router and entered my DSL username and password in PPoE fields that were now visible
also on the USR checked the box to allow remote access and entered port 99.
with these setting i lost connection to the internet after everything re-booted. i also lost connection to the DSL modem through the USR. When i changed the USR back to DSL Router from DSL modem i was able to connect to the DSL modem again.
i reset everything back to PPoE mode settings and had internet connection once again.
thanks for the ideas to try, but i think i will abandon this crazy idea of remote cam access and keep things simple!