Assuming that Insert_Path_from_server.xml contains a UNC path like \\server\share\filename.xml, then you are running into what is known as the double hop problem. The credentials that you used to authenticate to $PCName cannot be passed to \\server.
There are many ways to accomplish scheduling the task, but without changing your script too much, this should work.
$xml = get-content "Insert_Path_from_server.xml"
Invoke-Command -ComputerName $PCName {
$Filename = "C:\windows\temp\file.xml" # save to the C: drive
$using:xml | out-file $FileName # refernce the variable from the main script
schtasks.exe /create /tn Insert_Name /xml $FileName
}
-Credential $Administrator