Most routers do not allow admin access from their WAN (public) side due to security concerns. Many routers allow you to enable this service from their browser-based configuration screens, but the 6211 does not. However, you can access advanced commands by logging into the router with telnet (from the LAN side) instead of a browser. The "remoteaccess" command allows you to turn on the feature you desire.
Full instructions for the command-line interface are here:6211-I1 ADSL2+ Router Command Line Interface User's Guide
You may need to upgrade your firmware to 3.00.22:
Zhone/Paradyne Firmware - TSTT Forum
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