The error message “C4A1 Communication issue: Lost communication with Controller”
It is possible that this issue could be caused by either the Robotiq Wrist Camera or a script running on Polyscope?
This issue happens occasionally during the teaching phase or immediately after
It has been caused by different factors in the past. You should update your robot, if it is not the latest version of PolyScope. 
EDIT: Or that might be a different error - I’m unsure now. Anyhow. I would still check if your robot is updated, since it’s most likely related to software.