Looking at your code you might want to try something like this:
schtasks /Create /SC ONCE /TN $TaskName /TR `"robocopy.exe $QuellPfadRAW $ZielPfad /M /E /COPY:DAT /V /R:0 /W:0 /LOG:$LogPfad`" /ST $StartTime /SD $StartDate /F
When you put "s in a Powershell line it takes everything inside of them as literal, meaning variables won't be replaced.
If you put a ` in front of each of your "s it should negate that.
Sorry it took me so long to get back to you btw.