I had this fault after I pulled my subthrottle "flies."
On the right side of the bike (sitting in it) under the tank there is a sensor on the throttle bodies. You can access it by removing the right side fairing or loosening it and pulling it back. The sensor is held on with a screw... notice it is adjustable. Make note of where yours it - it should be painted. Pop the sensor off. It is spring loaded. Stick something into the sensor and twist it. Your error code should disappear. This is what controls the subthrottles. I had to twist it, turn the bike on and let the servo "grab", then reinstall.
The sensor can be installed incorrectly 90 degrees off. This is what happened to me. I had to twist the spring loaded servo 90 degrees then reinstall.
Fixed my error code.
Lou