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My bike was doing that on and off for about a year and I found the connector for the ABS sensor by the steering neck was ziptied to something and pulling on the wires, I cut the ziptie and it took the pressure off of the wire and connector and the problem went away. I looked for this problem after finding a few other people had the same issue and some even had to replace the sensor or part of the wiring harness after being pulled so tight. Of course it was easy to get to on a RK, not so sure about a RG.
Just rode to work, light didnt go out. Stopped, shut her down, same story, light didnt go out. Anyone know if removing all power (battery) from the system will reset it?
Having the same problem with my 2015...took it in they replaced the sensor, didn't help the problem...now waiting on ABS module