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Watch along as I remove the valve covers and do a valve clearance check on my 2012 R1200 RT. I bought this bike used, so I wasn't sure if the first scheduled valve check was ever done. so, with 10,700 miles on the clock, I opted to do this check early. I also changed the spark plugs while I was there. You'll need standard feeler gauges, and perhaps a micrometer if new shims are needed. A special tool to remove the coil on the spark plug is also helpful.
In my case the clearances were okay, but if the gap is too big or small, you can remove the "e" clip from the cam follower and pull the follower off the engine. The shim is contained in a little dished area on the follower. Measure the shim and pick a different one (available from BMW) to bring the gap within spec.