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For example , i now use :
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="838860.7"/>

for 64 bit float use :

<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float-double-ieee" scale="838860.7"/>

is correct ?

missing this line in your main hal under the tool change signals it looks like:

# ---ignore tool prepare requests---
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

This may be closer to what you want:

# Input and output configuration
net button-press <= hm2_7i95.0.inmux.00.input-05 # Connect input pin 5 to signal button-press
net relay-1-control => hm2_7i95.0.ssr.00.out-01 # Connect signal relay-1-control to relay output 1
net relay-2-control => hm2_7i95.0.ssr.00.out-03 # Connect signal relay-2-control to relay output 3

# Load and configure timedelay
loadrt timedelay count=1
addf timedelay.0 servo-thread

loadrt xor2
addf xor2.0  servo-thread

setp timedelay.0.on-delay 1.0 # 1-second delay
setp timedelay.0.off-delay 0.0 # No off delay

# Timedelay connections
net button-press => timedelay.0.in xor2.0.in0       # Link button-press to timedelay and logic
net relay-1-control <= timedelay.0.out  xor2.0.in1 # Link timedelay output to relay-1-control and logic
net relay-2-control <= xor2.0.out                           # Link xor out to relay-2-control