I've been getting this same exact error. I've had the phone for 3 months, never remove the battery, and just a few weeks ago I plugged it in and it beeped and gave me this message. It's been doing it ever since.
I called tech support and went through their list of things to try- turn phone off and on, remove and reinsert battery, perform factory reset. None of that worked so they had me send it in. Two weeks later I receive my phone back with the exact same error! Literally the moment I unwrapped it from the packaging and plugged it in I got that battery error. In the paperwork that was sent along with it it says they replaced a component, and updated my software, and that the problem was resolved. Since the problem was obviously not resolved I called them again.
First level tech support could do nothing. He forwarded me to advanced tech support, who apparently are the guys fixing the phones because he did not like the fact that I was asking him how it's possible that they could not have discovered this problem before sending it, and got a little testy. He told me my only option was to now send JUST the battery (I had previously sent phone, battery, and charger as per tech supports instructions so they could perform thorough diagnostic testing), because the facility where they repair batteries is not the same as the facility where they test phones. Ok...I said that it is unreasonable to expect me to be without my phone for another two weeks. He said that's my only option. When I mentioned ARBITRATION (remember that one), he forwarded me to "executive customer relations." That person was at least polite, and offered to send me a new battery, though he could not expedite shipping and it would take another week. (!!!)
So now I am awaiting the arrival of my new battery. If that does not work I will be initiating arbitration with the goal of recouping the cost of my phone.
I will update when that happens.