The keyboard connector contacts the printed circuit board internally just below the display. The keyboard connector is 15 (I think) contacts on a flexible mylar (I think) circuit. Pressure for the connections is established by a rubbery strip laying just below the mylar. As the PCB is fastened into place, the rubber holds the mylar and PCB contacts together.
I think in some (especially aging) Pioneers, the rubber strip shrinks over time, and the keyboard traces lose contact with the PCB.
I've fixed some of these by taking them apart, removing the PCB, lifting out the rubber strip (it lies in a slot molded into the plastic face half of the case) and bolstering it with a strip of something about 1 mm thick underneath. (A rolled-up strip of celophane tape is one approach.)
Then simply replace the rubber strip (it should sit a little "higher" now), the PCB, and the case halves, and it should work fine.
Instructions on how to take apart & put together Pioneer models are to be found elsewhere on this site:
MoHPC – Repairs & Batteries – Pioneer Repairs
MoHPC – Articles Forum -- #199: Increasing HP-42s Memory to 32K
Good Luck!