Why does this pathfinding function make the NPC stop working? [SOLVED]

local function FollowPath(masterpath, coord)
    for i, v in pairs(coord) do
        Droid.Humanoid:MoveTo(v)
        local distance
        repeat wait()
            distance = (v - Droid.Head.Position).magnitude
            print(distance)
        until distance < 2
    end
end

This works as expected, with the droid repeatedly moving to each of the coordinates and moving back to it if it's moved off course. However, if it's not near the path for ~8 seconds, it just stops moving and will only start following the path again if I manually push it back to where it was before.

Is there a way to prevent this, or at least have a function that tells it to move back to the path again if it stops moving?

EDIT: The whole script by request of europe EDIT2: Solved by KoreanBBQ

Droid = script.Parent.Parent
PFS = game:GetService('PathfindingService')
    PFS.EmptyCutoff = 0
Debris = game:GetService('Debris')

local function FollowPath(masterpath, coord)
    for i, v in pairs(coord) do
        Droid.Humanoid:MoveTo(v)
        local distance
        repeat wait()
            distance = (v - Droid.Head.Position).magnitude
            print(distance)
        until distance < 2
    end
end

masterpath = PFS:ComputeSmoothPathAsync(Droid.Head.Position, Droid.Head.PathTarget.Position, 512)
coord = masterpath:GetPointCoordinates()
for i, v in pairs(coord) do
    local Part = Instance.new('Part', Droid.Head)
    Part.CFrame=CFrame.new(v)
    Part.Transparency = 0
    Part.Color = Color3.new(0.2, 0, 1)
    Part.Size = Vector3.new(1, 1, 1)
    Part.Anchored = true
    Part.CanCollide = false
    Part.Locked = true
    Part.Name = 'Path'
    Part.Material = Enum.Material.Neon
end

spawn(function() FollowPath(masterpath, coord) end)