I came across this post from this forum, it’s quite long and there were a number of solutions offered, so I don’t know what works best for your situation but it may be worth looking through. Additionally, there was a patch script linked which comes from a PSR owners forum, so that may also have some insight on recording to DAW.
To keep in mind though, I think what it will come down to is either recording directly in Cubase via audio connections, you’ll just have to set up a count-in when you start recording since you will have to interact with your laptop before getting back in playing position. Or setting up the keyboard as an external instrument, feeding it MIDI from Cubase and recording the audio that plays back, although there may be some latency involved with that.