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Just discovered that even though my printer and TV operate, via WiFi, neither is connected to my home network, which is running 5G. While trying to connect my HP printer, the router Pin # was requested off the label. Everything that I see does not qualify as the Pin #. So how do I connect my devices?

Is that asking for WPS pin? if yes then you check for the PIN on the modem interface or GUI by following the steps mentioned on the below article.

http://arris.force.com/consumers/articles/General_FAQs/SBG7600AC2-WPS-PBC-Setup