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I have made some progress:

I have had to set the axis velocities to constant values (500000, where the encoder has 524288 counts per revolution), since I don't see any HAL pins from the motion planner that carry that information. I will see about writing a custom HAL component that can interpolate velocity from waypoints.

I assembled a MB2HAL config file, and loaded it as a userspace component through halrun. With that, I could control each motor, with no perceptible lag between command entry and motion.

I can control the motors through Axis, but in G1 feed mode at the MDI, I get one step every second or so. For instance, I will command one axis to G1 Z1.0 F5.0 and it will move ~60° every second or so until the move is done. In G0 rapid mode at the MDI, there is a significant delay, again roughly one second between the time I press Enter and the time the motor begins to move. While the move is in progress, distance to go changes smoothly, but actual position (and the motor shaft) move in steps.

Can you help me understand how Glade and Handler work? I've already created the switch and the LED. How do I now connect them so that pin 17 switches on and off? I'm completly stuck.

I believe you referred to this to run

# rm /etc/{initramfs/post-update.d/,kernel/{postinst.d/,postrm.d/}}z50-raspi-firmware
# apt purge raspi-firmware

What should I do after that? I apologize Tommy, but I have no idea what should I do.
Thanks.

yes

If you select 'Utilities' > 'HalMeter' in the tklinux menu and select 'iocontrol.0.emc-enable-in' does it show TRUE ?

Peter, thank you for the guidance.  Once I re-enabled the PID stuff, things worked as expected.

I used the auto tuning steps and from there have been able to get to a good state.

i did and its not working, when i start sim tklinuxcnc its working

Have you clicked on the 'ESTOP' button in the tklinuxcnc gui to set 'Estop off' and 'Machine on'?

Note that you can use either a handler or the postgui halfile to make the connections.

That does not work because you have forgotten to give a signal name after the 'net' command.

I entered the command in postgui. This does not start linuxcnc. Do I have the correct command from Halshow for postgui.hal?

Not sure I understand this correctly but halshow does not make any distinction between postgui and regular hal files.
The regular hal files are read before the gui has loaded so if any gui related halpins are used in these files you will get a startup error because those pins are missing. The postgui halfile is read after the GUi and the custom panels have loaded.

thank you for the quick answer it is not working i tried everything its super strange.

It seems to be fixed now 10.10.25

I only became a Glade user today... so I don't have any experience yet. Please take a look at the attachments. I have the following questions:
Do I have to enter something in Glade -> Light Button -> Signals -> Handler? Do I enter this handler in postgui?
I entered the command in postgui. This does not start linuxcnc. Do I have the correct command from Halshow for postgui.hal?

We have very similar goals. In the future, I also want an ATC and a fiber laser machine for metal cutting. I’ll be keeping an eye on BidSpotter as you mentioned, but I think I’ll end up buying the resonator and all the necessary parts for the fiber laser from some affordable Chinese supplier. Thank you so much for your support with the MPG, you’re a legend!

You'll need to make the hal connections in the postgui_hal file. Have a look at the millturn sim confi, (uses an xml instead of a glade file but the setup is the same.
github.com/LinuxCNC/linuxcnc/tree/master...xis/vismach/millturn