SlickGrid requires at least the ID field, you can take whichever that could be named differently in your table and then alias it to "ID" but it has to be a UNIQUE id field because SlickGrid is using it for row naming and so on.
If you do not have a UNIQUE field and you really want to use composite primary keys, then I suggest you create a fake ID field which you simply increment by 1 each loop. A simple way is to do this while fetching the data, something similar to the following:
$sqlTable = "SELECT * FROM myTable";
$result = mysql_query($sqlTable,$connMySQL);
$i = 1;
while($row = mysql_fetch_array($result, MYSQL_ASSOC)){
$tabData[] = array(
"id" => $i++,
"column1" => $row['column1'],
"column2" => $row['column2']
);
}
Now if you do use a fake ID like I just said, this will give you some problems doing the CRUD (update, delete) since your ID is not real and point to nowhere... but there is a way to fix that too.
By the way, you should split your question into 2 separate question since they are different subjects. I suggest you ask your CRUD subject in another question and that you provide some code so we can develop from there.