Service manual says YCCT drive malfunction, it lists a number of things to check. I'd start by reseating the motor connector.
Success! While reading about trouble shooting the code, one site I went to which was not motorcycle related, had a few suggestions about simple things to try b4 digging in too deep. The easiest was to disconnect the negative terminal for 5 minutes. Just came in from a ride and all is golden...did a code check and nothing hidden. I am wondering if going into the limp home mode may have contributed to the code and symptoms? Will stop by the dealer for the ecu update for the recalled models.