The air pressure within your tyres is the one of the most important factors in seeing how well they perform. Pressure can affect many areas of a bikes capability such as, speed, load carrying, handling, wear rate and overall safety. What's more is under inflated tyres will cause your bike to be less fuel efficient and emit more CO2 emissions. Therefore properly inflated tyres is critical for your comfort and safety.
Tyre pressures should be manually checked when they are cold and adjusted in line with manufacturer’s' recommendations, this should be done once a month or before a long journey. However, checking tyre pressures whilst on the move can be difficult without the correct equipment.  
What Does a TPMS Do and How Does It Work?
TPMS stands for Tyre Pressure Monitoring System, the purpose of the system is to warn you when one or more of your tyres are under inflated possibly creating unsafe driving conditions. The TPMS low tyre pressure indicator is a yellow symbol that illuminates on the dashboard instrument panel in the shape of a tyre (when you look at it front on, resembles a horseshoe) with an exclamation point.
There are two different tyres of TPMS being used today: Direct and Indirect.
Direct TPMS: This uses a sensor mounted on the rim on the inside of the tyre and constantly measures the air of each tyre. When the air pressure drops below 25% of the manufacturers recommended level, the sensor emits information to the trip computer and triggers the yellow warning on the dashboard
Indirect TPMS: This works with the bikes wheel speed sensors. If a tyre has low pressure, it will roll at a fractionally different wheel speed than the other tyre, this information then gets fed to the trip computer, again triggering the yellow warning symbol.
What Should I Do If My Warning Indicator is On?
Check the pressure in your tyres and inflate any tyre that is low (using manufacturers recommendation found within the handbook of the bike). When the tyre is at the appropriate pressure, the light should go off.
You should continue to monitor the tyre and should the light come on again, you should visit your local main dealer and have the check the tyres over, you may have a puncture. Only travel on the motorcycle if it is safe to do so. 
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