Adjusting the TPS sensor is pretty straight forward. The service manual refers to two TPS sensors, one for the throttle cable, the other for the throttle valves. I refer to the one for the throttle valves as TVS to avoid any confusion. If you need help removing the tank to get to the TPS, use my PCV install writeup.
Once you have the tank and air box removed, you will be able to access the TPS. The TPS is on the left side, the TVS is on the right side against the frame. The middle part, is the servo that actually opens and closes the throttle valves.
On a side note, for those that want to clean it, the 06+ R6 TPS is fairly sealed, so getting any cleaner in it will prove fairly difficult.
Before doing anything else, make sure your current TPS location is marked. From the factory it should have a paint mark on it. If it does not, marker it with some paint, scratch it, marker, whatever. This will ensure you can put it back where it was should you make your problem worse.
The TPS does have hex heads on the screws however a socket won't fit on the heads. They also have a phillips head on the screw. You can use a screw bit and wrench to loosen these bolts.
Now I will say the factory service manual would have you use two "C" batteries, and read the voltage output from the TPS, however I'm going to suggest just using dIAG mode, to simplify things. If you don't know how to get in dIAG mode, use my guide here. Using the Diagnostic Codes table you will be using these dIAG modes:
dIAG Mode # - Sensor Tested - Closed Value Range - 100% Throttle Value Range
01 - TVS signal, 12-21 - 97-106
13 - TVS Signal 2, 9-23 - 94-106
14 - TPS Signal, 12-22 - 97-107
15 - TPS Signal 2, 10-24 - 95-109
Note, the values displayed do NOT represent what the throttle is actually at. Just because the TVS reads 109, does NOT mean the throttle valves are actually at 109%, those values are just an acceptable range. So if your TVS is only reading 94, your throttle valves are still at 100% (wide open) when it reaches 94.
You can adjust these sensors in dIAG mode with the bike on, however, realize the system will not take a large change. If you move the sensor too much, the whole system shuts down, and you have to exit and go back into dIAG mode to get the system to read again. It doesn't take much of a change to make a big difference. Also be careful when tightening the sensor back down as it may move when you tighten it. So check the readings again after it is tight.
Now what about the TVS sensor? Well this one is one you really shouldn't mess with unless are having a problem. Don't touch it. However if you wish, to get to it, you will need to remove the throttle bodies. They don't need to be fully removed, you can leave everything hooked up, but you will have to loosen the boots so you can pull them up to get the TVS loose. Adjusting the TVS will take a tamper resistant torx bit. Also note adjusting this moves the throttle blades. Yes you can adjust the throttle blades to open wider like this, however if you are not careful you can open the valves too far, and actually start to restrict air flow again. Also keep in mind the blade does not need to be completely vertical, in fact you don't want it completely vertical. The goal is to have the blade just barely hide the shaft in the center. Opening it wider won't matter as the shaft will still limit that much air flowing in. I took very careful measurements and decided to open the throttle blades slightly further than the factory set them, so I did adjust this.
If you did remove the throttle bodies to adjust the TVS, you may find it very hard to reseat the throttle bodies. It is very, very important you get them full seated. My recommendation would be to use some silicone spray on the rubber boots to lubricate them. Do not go crazy with it, or spray it into the motor, just use a rag to wipe it on.
After you have everything reassembled and bolted down, do a final retest of your adjustments in dIAG mode, before putting the tank back on.