There isn't really any plug and play solution for the system menu disc channel loading.
If you really don't want to use cIOSCORP, then your best bet is to set the "System menu IOS" setting in preloader to 249, then enable the "Force Discs to run under IOS249" hack. If that doesn't work, I don't know why (could be a bad burn, not sure).
However, if you decide to use cIOSCORP v3.4, just change the "System menu IOS" setting to 60, after installing cIOSCORP v3.4, and it should work fine.
If you really don't want to use cIOSCORP, then your best bet is to set the "System menu IOS" setting in preloader to 249, then enable the "Force Discs to run under IOS249" hack. If that doesn't work, I don't know why (could be a bad burn, not sure).
However, if you decide to use cIOSCORP v3.4, just change the "System menu IOS" setting to 60, after installing cIOSCORP v3.4, and it should work fine.