Transfer case coding on E70

[Launch]

Hi all . I think that all the parts are sorted out and in working order ( transfer case & actuator ) but having problems when turning, the car loses power, wheels lock up for a second and so on untill i unplug the cabel from Transfer case actuator and then the car runs fine but have 4x4, ABS and other warning light on. So my guess is that i need a trannsfer case recoding. I downloaded ISTA+ 4.39.20 and now i have it installed on my laptop just not sure what to do next. Do i need a K + D CAN Cable or i need to get a ICOM ? Please if any of you guys can help it would be much appreciated and it would help me alot. I dont know how much a proper work shop would charge for that so maybe i would be willing to do that but dont know the price and i am scared they will just start charging me for more then just a re-coding.