The R1 actually has three modes, STD, A, B. It defaults back to STD whenever the key is turned off and back on. I believe the S10 will hold the last selected mode.
On the R1, STD is plenty frisky, B is probably good for rain or dodgy road surfaces and A must be for entertaining friends with wheelies cause I found it even a bit too much for the race track. It sure picks up the front wheel in a hurry in A mode though! The D-mode selector is a spring loaded switch you operate with your right thumb just to the left of the throttle. From the YAM website:
The R1 features Yamaha D-MODE (or drive mode) with rider-selectable throttle control maps to program YCC-T performance characteristics for riding conditions. The standard map is designed for optimum overall performance. The “A” mode lets the rider enjoy sportier engine response in the low- to mid-speed range, and the “B” mode offers response that is somewhat less sharp for riding situations that require especially sensitive throttle operation. Switching maps is as easy as pushing a button on the handlebar switch.