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the o2 sensor monnitors the air to fuel mixtue in the bike through teh exhaust gasses comming out...so if it was maped for a more constritive exhaust or if there was a catiletic convertor that was taken out to install the pipe..the senser could be reading wrong and running a leaner or richer mixture of air/fuel then needed....with a FI bike most of the time the bike has to be re-maped to correct the diffrence...with a carb. bike it has to be re jetted. ......now as for cost if you wanted to spend a little more money you could get a powercommander and a FI controler for your bike..make alot of power, have a ton more settings and the touch of a button, and have the freedom to re map your bike anyway you choose with download able maps from the web site they provide. i would take it to the dealer first and let them run teh check light and see what code it throws..if it throws an o2 then you know it needs to eb re maped most likly but if it throws somthing elce you can go from there.....let us know what happeds hope i was help
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live life, ride a kawi. 
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