From the manual:
Mode changes
A mode change involves functions in the engine management system, the ABS and the DTC and is possible only in certain operating states:
No drive torque at the rear wheel
No brake pressure in the brake system
In order to achieve this state, the motorcycle must be at a standstill with the ignition switched on,
or
the throttle twistgrip must be in the fully closed position, the brake levers must be in the released positions, the clutch lever must be pulled and the clutch disengaged.
The desired ride mode is initially preselected. The mode change does not take place until the systems in question are all in the appropriate state.
The selection menu does not disappear from the display until the mode change has taken place.