Cybertaz,
one problem is your program only has two modes of operation; (Teach & Playback). To track what your program is doing, and to be able to repeate the playback, you should have a pause mode. Then you would switch modes from Teach, Pause, Playback, Pause, Playback or Teach, Pause, then Playback or Teach, again etc...
You need to install a flip flop for the teach & playback modes, or add a stop button to drop both modes.
You need to do this in order to beable to focus on just the playback or tech mode issues with out having to re-teach the PLC every time you try it.