I seems like I have seen the remote write access notification on the pendent before even though the laptop was disconnected. I would check this though. This would mean a client other than the pendent is accessing the controller.
In one of your screenshots I see that you used WaitSyncTask\Inpos but in your trap your restoring a position in the case the robot moves or drifts, I assume. Could this cause a conflict somehow especially since you restore the path before the StartMove?
In a multimove instance using StopMove or just Stop, you want to add the \AllMoveTasks argument to stop all the motion tasks. Otherwise the other tasks will continue to run until a WaitSyncTask is reached.
I see your Event Routines. Are you sure a StopMove and StartMove will trigger the associated events? If so I see you would also be executing the ISleep intR1Enter; twice. I guess the PLC system signals would trigger the event routines but why not use the MotOnStart system signal from the PLC versus all the Trap code?
Overall it seems like there is a simpler way to do this and in all the examples I have see, there usually is unless there is some special operation that is in play?
Matt