It is difficult to follow especially the bit about the -24V. But basically the arrangement you have will not work because there is no way that the PNP can ever be turned off.
To turn off a PNP transistor the base has to be within 0.7V of it's emitter and in your arrangement there is nothing to pull it up to that level. A resistor from its base to the +5v line might help.
However, this module you appear to be trying to switch to 5V (although you do say ground all the time) there is no path to ground in your description, only a path to +5. Is the other end connected to +24V or -24v? it is probably the current leaking through this module that is causing you further trouble.
To remove any confusion can you please post a schematic even if it is only hand drawn.