Power steering pump making noise and smell?

Every time I turn my steering wheel to full lock, this quite loud grinding sound comes from my power steering pump and a really strong burning rubber smell comes in to my cabin. This is especially so when I'm full lock turning in reverse for a paralel park. Power steering fluid is not low. What could this be and how easy/hard will it be to fix? I'm 100% sure that it's the power steering pump, but before I take it to the shop I want to see what you guys have to say about this. My car is a Infiniti FX35.