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The good news is switching to X11 is trivial.

You can check the session type:    wayland

Launch Rasp-config command line tool in a terminal:
Arrow down to "Advanced Options", and enter.
Arrow down to "Wayland                 Switch between X and Wayland backends", and enter.
If not on the line that says "W1 X11     Openbox window manager with X11 backend", arrow to it and enter.
The popup should say "Openbox on X11 is active" and have "Ok" highlighted. Enter.
It will return to the main screen. Use left-righ arrows to select "Finish". Enter.
Popup asks if you would like to reboot now, with "Yes" highlighted. Enter.

After reboot:    x11

Now here's the interesting apples to apples comparison. The only difference between these two pre-jitter-optimization baseline latency runs is Wayland vs X11.

Wayland:
 

X11:
 

 

Based on the given information about the requirements and constraints I cannot advise anything and cannot tell wether it will be successful, clever or foolish.

My search terms would be: (without deeper knowlede)

lookup table
kinematics

Digging through the hal component list and look if I could convert the linear movement to an angle in the hal.
linuxcnc.org/docs/stable/html/hal/components.html

Greetings.

high resolution rotary encoders tend to be more expensive than a linear scale, so for a sine bar like arrangement I was thinking if a linear to angle system would benefit from. High torque, and high accuracy. At the cost of a very limited angular range.
 

Using MDI with python there's a 20ms delay between sending the command and the robot starting the move. There is also a 20ms delay between each MDI command i can send. So if i want to send 10 points to the robot it'll take 200ms to just send the commands.

This is far from ideal for a realtime application. Is there a parameter I can tune to speed up MDI?

Rod has a point about making sure you are using the right Mode. Assuming you are using Mode 1, it’s really odd to me that the power source is sending an arc ok signal when there is not even an attempt at a pilot arc. I know my powermax 65 (xp) will stop the post cool down flow and fire up the pilot arc. But also it won’t provide an arc ok signal until the arc is actually … OK.

It’s odd that it requires two torch on pulses to fire up after the cool down phase.

Are you sure it’s not in some other mode, like gouging or cutting expanded metal?

Also, I feel like this is vaguely familiar from an issue someone else had here. You might do some searching (if you haven’t already) of the forum, even though the search mechanism can be …limited…