I've looked into this, and many readline-based programs have trouble
with being backgrounded when they are grandchildren of the interactive
shell. For example,
$ bash -c 'bash ; :'
$ suspend
[terminal hangs]
Because the problem seems to be something to do with being a grandchild
process, I developed an experimental branch where I change halrun so
that it can exec (rather than fork and exec) the interactive halcmd.
You can find it on git.linuxcnc.org in branch jepler/halrun-suspend.
The last commit has a rather lengthy message which gives some additional
background I found while researching just what the heck is going on
here.
Jeff
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