You should let it warm up a little bit before taking off. I wouldn't let it sit there and idle until it was hot before taking off though, just long enough to take the choke off some. Go easy on it until it's warmed fully.
Yamaha R6 (sorry for the thread below-accident)
my r6 is a carb. bike. When i first start it and its a little sputerty due to not being warmed up is it bad to immediately start driving it even though the engine still might be "cold"?
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