Peugeot 307 Power steering won't turn on when starting car

2005 Peugeot 307 Problem

CarPeugeot 307 2.0
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The problem is that when I star engine the power steering won't turn on and I have to drive few meters before it turns on. My friend checked the car with computer and we found this kind of fault code C1210 - Motors rotation speed signal CAN-communication disruption.

Does anyone know where exactly this problem locates and how we could fix it?
Problem Category
Electrics, ECU, Warnings & Lights

Steering, Suspension, Brakes, Wheels & Tyres

Running Rough, Starting & Power Loss

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