That said, here goes... and sorry for lack of illustrations, which are referenced by numbers and letters in the following text.
Remove side fairings, front surround, unplug lower display, remove tank cover to expose coolant filler cap.
[Edit]: Vincent Vega reports that "it can be done by just removing the right side air intake. I just had to use a funnel with a tube attached to refill."
This operation must only be carried out when the engine is cold. Attempting to change the coolant with the engine hot could lead to burns from hot coolant or scalding steam.
Place a container under the engine and place the motorcycle on its side stand.
Remove the expansion reservoir filler cap (1).
Loosen clip (2), disconnect the hose (3) and drain the coolant inside a container.
[This is the overflow hose that attaches to the top of the filler neck, just below the cap. to drain it you must either reroute the hose, or use a pump or siphon to draw out the coolant.]
Loosen the cap (4) of the fluid exhaust hole placed on the pump cover.
[This is the drain plug on the side of the water pump]
Allow the coolant to drain off completely.
[I found that the most complete drain requires disconnecting one hose from the thermostat as well as the lower water pump hose - the one that feeds the horizontal cylinder.]
Screw plug (4) with a seal again in the fluid drain hole, and recover the new seal (5).
[This means put the drain plug and its washer back into the pump; they suggest installing a new washer, but I reused mine without trouble]
Tighten the plug (4) to a torque of 20 Nm (Min. 18 Nm - Max. 22 Nm) (Sect. 3 - 3, Engine torque settings).
[If changing coolant types, I suggest refilling the system with distilled water and running the engine briefly; then draining again.]
Refill the circuit by pouring new coolant into the circuit via the remote filler cap (6).
Connect the [overflow] pipe (3) by tightening the clamp (2) to a torque of 1 Nm ±10% (Sect. 3 - 3, Frame torque settings).
Allow several minutes for the coolant to fill all the internal passages.
Start up the engine and allow the coolant to reach 110 °C; run the engine for about 10 minutes.
[Plug in the lower display first.]
Stop the engine and allow it to cool down so that all the air is expelled from the cooling circuit.
[Note, they don't tell you to reinstall the filler cap. I think most people probably would, but I did not, and I would not in the future. Although it makes a heck of a mess when coolant starts belching and splashing out as the engine heats up, I found that a LOT of air came out and I ended up adding a great amount of coolant during this procedure. I do not see how simply capping the system, running the engine, and then letting it cool down, will possibly turn out right. Next time, I will lay a rag over the filler to reduce the splashing.]
Keep your hands, clothing and tools well clear of the radiator fan at all times; this fan starts automatically without warning and could cause serious injury or damage.
Check the cooling circuit for possible leaks.
Top up the coolant through the expansion reservoir filler to bring the level up to the MAX. mark.
[Note, this is the first mention of refilling the reservoir; but if it weren't refilled before running the engine in the above steps, then there's no way the system would end up properly filled.]
Tighten the cap (1) of the expansion reservoir.
Edited by ReidMcT, 30 May 2013 - 12:42 PM.