Are we talking about the same edition of the book? In my (very old) paper copies, definitions 6.21 and 6.24 are on page 27...
Nevertheless, if the numbering of the definitions is still the same, definition 6.21 defines a "foundational relation" (`R Fr A`) , whereas definition 6.24 1) defines a "well founded relation" (`R Wfr A`). The difference between both is that the second adds an "is a set" property (on each R-initial segment of A):
``R Wfr A <-> ( R Fr A /\ A. x e. A ( A i^i ( `'R " { x } ) ) e. _V )`.
In
set.mm, ~dffr3 is an alternate definition of ~df-fr which corresponds exactly to
definition 6.21 in Takeuti/Zaring (as indicated in the comment).
Furthermore, we have a set-like predicate `R Se A` in
set.mm (see ~df-se - there isn't such a predicate in Takeuti/Zaring!?), which exactly represents the
"is a set" property mentioned above.
So if we want to define a well founded relation as in def. 6.24 1) in Takeuti/Zaring, then this would be
`df-wfr $a |- ( R Wfr A <-> ( R Fr A /\ R Se A ) ) $.`
We use this definition implicitly, for example in ~tz6.26, where the `R Wfwe A` in Takeuti/Zaring is represented by `( R We A /\ R Se A )`.
Under the assumption that the definitions in my copy (maybe "first edition") and the edition used in
set.mm ("second edition") are the same, we actually have to replace "well-founded" by "foundational" in many places, at least it should be mentioned in the comment of ~df-fr that there is a deviation in terminology, as proposed by B. Wilson.
It would be great if my observations can be approved by somebody who has access to the edition of Takeuti/Zaring which is referenced in
set.mm.