How do I resume moving where the robot stopped?

The robot moves between points. When the DI is triggered the robot stops, remembers the position and moves to the service position. When this DI is turned off, the robot must return to the position it memorized and continue to work.

I know how to stop (kill loop), memorize the position, drive to the service position and return to where it stopped. But I have no idea how to continue moving along the path. The trajectory is created in Polyscope for ease of use by the operator.
This is the gluing operation if you are interested.