We are trying to figure out how to set up Call Pickup on our 5330 IP phone that has the SX200 ICP platform. We are set up with one huntgroup. All phones have the same huntgroup/extenstions programmed. What happens now is all lines ring in, all stations ring, but lets say one station isn't populating the call with the software but we hear it ring, we'd like to be able to hit call pickup from another phone and be able to pick up that call that is ringing at another station.

You would have to program the other phones into a Pickup Group with the extensions that are in the Hunt Group. It sounds like you have programmed Key Line appearances on the phones using the Hunt Group so they are the extensions being "Picked Up".