Robot will not go into auto

I have a robot that I can not get to start through the PLC. The program select mode is Style. Production Start Method is UOP. I know other is used most often but this is the settings that we use on all of our other robots. Then through the system/config screen it is setup to Remote and the UOP assignment is Full.

When I have the Enable UI signals set to false the alarms clear, the money symbol in the Production box in the top of the screen appears and UI[6]: Start lights up through an external button we want to start the robot with.

When I turn the UI signals turned to True I receive an IMSTP alarm. I imagine this is caused by the PLC.

Does is look like everything on the robot side is correct?

UO[1: Cmd enabled] = ON / UO[2:System ready]=ON

UI[1:*IMSTP]=ON / UI[2:*Hold]=ON / UI[3:*SFSPD]=ON / UI[8:Enable]=ON

Press the external reset button UI[5:Fault reset]=ON and then press the cycle start button UI[6:Start]=ON

So I am now able to get the robot to go into auto but it is not acting correctly. In "STYLE" If I turn the UI signals to True or False I can not get the robot to go into Run(auto). But UI5 still clears the alarm and I see UI6 turn on when I press the button.

In "OTHER" if the UI signals are set to True or False when trying to start it up the robot it will not go into Run. But If I try to start the robot with the UI signals set to False, then toggle the signals to True then back to False the robot will go into Run. I can then turn the UI signals back to True and the robot stays in Run mode.

Does anyone know what I am missing? It almost seems like I am manipulating the robot to go into auto, which I know is not the correct procedure.