I fixed it
After I read on iRex's knowledge base, I fixed it. I was trying to connect the iLiad while it had a file open. Windows would make that sound that it usually makes when a USB device is connected, but no drive would appear. So I just pressed the "DOCS" button on my iLiad and it exited the document I was reading. Then the connection with my PC (and with the Companion) worked seamlessly.
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