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That indicates that your rear drum shoes are worn or just another wiring gremlin in an old wiring harness. Unplug wire at drum and see if goes out. Pull wheel and physically check shoes. It was Yamaha's solution in search of a problem.
pull the rear wheel at the last resort, check the coneetions first i.e. clean contacts, then pull the change bulb and if nothing else check your shoes or pads if you have a rear disk
I never knew that kind of warning existed, and I have been riding for years. Actually I so rarely use my rear brake that other than my XL250, I have never replaced rear shoes, I have replaced front disc pads though.
The switch on the rear brake plate gets activated when the shoes wear far enough down. The switch grounds a circuit in the light checker. This signals the light checker the brakes are worn and lights the dash light.
This is if the light checker is working ok. If not the light checker turns the light on when ever it wants. Me, I'd remove the light checker.
Leo