Just wanting to add some info on this subject.
Had a customer with a 700 eps model break a right front axle and then the eps started given us fits. The steering was off center (to the right) and hard to maneuver. Did a reset on the bike and it worked fine for about 30 miles. Customer returned it with no power steering and the eps light illuminated. Got it into the shop and replaced the ECM for the eps. Now when you started the bike the eps would jerk to the right and then shut down (some type of safety feature). Then we replaced the steering box and that fixed the problem. It's a good 1 hour job with two guys on it.