I think you have done any wrong while configuring VRU PG at ICM Configuration Manager. Recheck it, if problem still persists then please attach the screenshots of the 'Peripheral', 'Advance' and 'Routing Client' tab of VRU PG explorer as well.
Have you enabled the PIM in the Peripheral Gateway setup on the PG? Using correct IP adress and port? Do you have any Firewall between the servers? Have you checked so you have enabled the actual service on the IVR and is using port 5000?
You enables the IVR under Subsystem - ICM by choosing Yes on Service Control radio buttons.
Are you getting this error “Installer User Interface Mode Not Supported. The installer cannot run in this UI mode. To specify the interface mode, use the -i command-line option, followed by the UI mode identifier. The value UI mode identifiers...
The below trick might come handy when you have to add a new node to a cluster but you don't have or is unsure of the security password for the publisher. This procedure has been around for ages.
1) Login into the CLI of the Publisher.