Like Charlie says, remove the trans from the bike and do it on the bench. Remove the rear wheel, swing arm, battery tray and tool boxes. Make sure you remove the rear brake light switch too, it can get crushed when getting the trans out of the frame. The bike will sit on the center stand and front wheel, I find it a little easier to get the trans out if you put a block of wood and a jack under the rear of the oil pan and raise it up a couple inches. It's a good time to inspect the U joint too.