Motorcycle Questions? Ask a Mechanic.
Those trouble codes indicate an issue with both the front and rear oxygen sensors.
These are not used at idle but, above idle, are used to determine the fueling calculations. If you have recently made modifications to the exhaust or oxygen sensors then I would begin by checking that they are still properly connected.
To determine whether or not they are working properly you will need to connect the bike to a diagnostic computer system capable of monitoring them while the bike is running.
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