DTC B1304-04: Electronic Power Assisted Steering System - System internal failures: Action

Refer to the electrical circuit diagrams and check the power steering control module power and ground circuits for open circuit, high resistance. Repair the wiring harness as necessary
Using the Jaguar Land Rover approved diagnostic equipment, check Live Data - Main ECU Voltage Supply (0xDD02) - Vehicle Battery Voltage (0x402A). When the vehicle is stationary, move the steering from lock to lock in 2 seconds, immediately within 10 seconds from engine crank. If the main PSCM voltage drops below 8.0 volts during the steering test, then install a new battery
Check the battery connections to ground and the junction box
Using the Jaguar Land Rover approved diagnostic equipment, clear the Diagnostic Trouble Code(s) and retest (Road test the vehicle for at least 10 minutes with a vehicle speed greater than 20 km/h (12 mph), including a full lock to lock of the steering system)
If the fault persists and the power steering control module warning indicator illuminates, install a new steering gear
Using the Jaguar Land Rover approved diagnostic equipment, re-configure the PSCM with the latest level software