Following the MotoGP season finale, riders returned to the Valencia circuit on Tuesday for the start of a two-day official test.

Tuesday marked the first time that official timing has been available for testing with Michelin tyres, replacing Bridgestone as exclusive supplier from next season, while some riders also began work on the 2016 single ECU system.

Marc Marquez went fastest on his fourth lap then fell at Turn 3. Cal Crutchlow set the pace shortly after, then also fell (at Turn 5). Marquez returned to the top on his tenth lap, where he remained until the end of the day.

Repsol Honda and Movistar Yamaha sent their 2016 prototypes out on track at the end of the day.

As well as Marquez and Crutchlow, Tuesday saw front end falls for Pol Espargaro, Aleix Espargaro (twice), Eugene Laverty (twice), Maverick Vinales, Alvaro Bautista, Stefan Bradl, Jack Miller, Tito Rabat and Andre Iannone. All riders walked away.

Some riders, including Crutchlow, were faster than during Sunday's race.

Scott Redding, Loris Baz and Eugene Laverty were making their Ducati debuts for Pramac, Avintia and Aspar respectively. Jack Miller was riding at Marc VDS for the first time, alongside rookie team-mate Tito Rabat.

Testing, which took place between 10am and 5pm, continues on Wednesday...

1. Marc Marquez ESP Repsol Honda Team (RC213V)1m 31.551s(Lap 10/47)

2. Andrea Iannone ITA Ducati Team (Desmosedici GP15)1m 31.639s +0.088s(30/61)

3. Dani Pedrosa ESP Repsol Honda Team (RC213V)1m 31.681s +0.130s(11/49)

4. Maverick Vinales ESP Team Suzuki Ecstar (GSX-RR)*1m 31.720s +0.169s(36/59)

5. Jorge Lorenzo ESP Movistar Yamaha MotoGP (YZR-M1)1m 31.767s +0.216s(32/41)

6. Cal Crutchlow GBR LCR Honda (RC213V)1m 31.911s +0.360s(8/54)

7. Pol Espargaro ESP Monster Yamaha Tech 3 (YZR-M1)1m 31.937s +0.386s(10/40)

8. Bradley Smith GBR Monster Yamaha Tech 3 (YZR-M1)1m 31.997s +0.446s(32/67)

9. Aleix Espargaro ESP Team Suzuki Ecstar (GSX-RR)1m 32.005s +0.454s(36/47)

10. Andrea Dovizioso ITA Ducati Team (Desmosedici GP15)1m 32.073s +0.522s(57/66)

11. Scott Redding GBR Octo Pramac Racing (Desmosedici GP15)1m 32.214s +0.663s(30/52)

12. Valentino Rossi ITA Movistar Yamaha MotoGP (YZR-M1)1m 32.401s +0.850s(45/57)

13. Danilo Petrucci ITA Octo Pramac Racing (Desmosedici GP15)1m 32.442s +0.891s(46/47)

14. Hector Barbera ESP Avintia Racing (Desmosedici GP14.2)1m 32.468s +0.917s(35/38)

15. Jack Miller AUS Estrella Galicia 0,0 Marc VDS (RC213V)1m 32.594s +1.043s(33/47)

16. Tito Rabat ESP Estrella Galicia 0,0 Marc VDS (RC213V)*1m 32.673s +1.122s(82/84)

17. Stefan Bradl GER Factory Aprilia Gresini (RS-GP)1m 32.721s +1.170s(34/46)

18. Loris Baz FRA Avintia Racing (Desmosedici GP14.2)1m 32.943s +1.392s(52/53)

19. Yonny Hernandez COL Avintia Racing (Desmosedici GP14.2)1m 33.046s +1.495s(31/57)

20. Alvaro Bautista ESP Factory Aprilia Gresini (RS-GP)1m 33.061s +1.510s(66/66)

21. Eugene Laverty IRL Aspar MotoGP Team (Desmosedici GP14.2)1m 33.253s +1.702s(39/46)

22. Takuya Tsuda JPN Suzuki Test Rider (GSX-RR)1m 34.591s +3.040s(54/55)

23. Nobuatsu Aoki JPN Suzuki Test Rider (GSX-RR)1m 36.338s +4.787s(12/24)

Official Valencia MotoGP records: Best lap: Jorge Lorenzo SPA Yamaha 1m 30.011s (2015)Fastest race lap:Jorge Lorenzo SPA Yamaha 1m 31.367s (2015)