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Keil uVision: ST-LINK USB communication error

I'm using Keil uVision V5.22.0.0 and I'm trying to work with a STM32 Nucleo board, which has ST-LINK built into the board. When either debugging or downloading to flash using uVision, it works for about a minute (sometimes more, sometimes less) and then I get a small popup window saying "ST-LINK USB communication error". I can unplug the USB cable, plug it back in, and then it works again for a short period of time.

I'm not sure the best way to determine the ST-LINK driver version, but if I open the STM32 ST-LINK Utility Application and go to Help->About, it says that STLinkUSBDriver.dll is v4.4.0.0.

I've tried different USB cables and different USB ports on my computer. Same problem.

Any ideas?

Thanks.