I have the same issue with the A590, so I assume it may be common to all Canons. To use manual focus, it appears you need to have the display ON. I'm not sure why this is the case.
I've tried two things. The first is what you suggested - use manual focus and leave the display on, but put a plug into the AV socket. I found this does save some power, but not nearly as much as having the display off. It does have the added advantage of producing the least amount of mechanical noise as the picture is taken, and I assume (but don't really know for sure) that this minimizes the wear and tear.
The other option is to leave the camera in autofocus, turn off the display, and use the basic command set_aflock(1) at the beginning of the script to lock in the current autofocus setting. This is done once at the beginning of the script before going into the regular loop.
sleep 2500
press "shoot_half"
sleep 2500
set_aflock(1)
release "shoot_half"
This works with the display off, and saves a lot on power. But you have to make sure there's something at the target distance to focus on when this part of the script executes. I ended up not using this because on my camera it generates a lot of mechanical noise, as though it was going through the autofocus operation each time and then resetting to the locked position.
I would appreciate it if you would let me know what you end up using, and why. Particularly if you find something that combines turning off the display with little mechanical noise. I haven't found that yet.
There's also a thread somewhere here on turning off just the display backlight. I haven't had a chance to play with that yet.