The most important thing to warm up on a S2000 before any hammering down is the TIRES.
Other wise your well warmed up tranny, diff and engine will be working just fine as you careen off the road bassackards into something. Cold PSO2's are like driving on round blocks of ice.

 

Start engine, buckle seatbell, release hand-brake then drive gently(less than 4k RPM) the first few miles/minutes.

 

I've always been told for fuel injected vehicles to not leave the car sitting when warming up the car. For days when the temperature is below freezing, its appropriate to allow the engine to "warm up" for about a minute before driving.

The "myth" of warming up cars comes from carburated engines where the gas pedal would sometimes stick if the car was too cold, and some cars would stall out if they were moving before they were warmed up. With modern engines using fuel injection, this is not necessary.

I'm not expert on engines, this is what I was told by people who have more experience working on cars than myself. So I'm not going to say its fact, but its what I've been practicing.

With my S2000, I usually only drive it when the temperature is above 50 degrees, so I don't warm it up at all, I just drive it right away and keep the revs low. Its interesting that some have said to wait 10-15 minutes before hitting VTEC to allow for the oil temperature to rise. I was kind of under the possibly bad assumption that once the temperature gauge reaches operating temperature that it was safe to ring out the engine.

Will keep that in mind for the future.

 

I do this, but wait for about 6 miles upon the first cold start of the day before driving spiritedly.

 

 

I heard this same thing. Better to warm up quicker while moving. Just keep the revs low. It even specifically said this in my Passat owner's manual. Moving while warming up gives you more oil pressure and gets you to operating temps faster. The engine likes to be at the operating temps it was design to run at.

 

XViper said something VERY interesting. Maybe a lot of you already knew, but I'm sure a lot of us didn't and got confused! The "3 bars" apparently means close to steady state temperature?! For us who have a MY04-05 "3 bars" means not even half way there. No wonder you guys are VTECcing at 3 bars.
I agree with starting right away but taking it easy, so all systems warm up together. Then, I don't VTEC until a few minutes after the engine reaches normal operating temperature.

 

The engine coolant is about 140 degrees when the 3rd light comes on the gauge in a 9000 rpm car. This light stays on all the way till 230+ degrees. I don't know at what temp the 4th light comes on.
Most guys use the "3 bars" to VTEC because it is at approx. 140 degrees coolant temp that the ECU allows VTEC to happen. Some people have even remarked that they can VTEC with "2 bars" but this is only because the coolant temp is so close to that 140 mark, that the ECU has "released" VTEC but the 3rd light hasn't quite come on.
We will have to coin a new phrase for all 8000 rpm S2000's. "5 bars"? "6 bars"?

 

I drive away slowly as soon as the revs settle from the initial start (approx 10sec).
I then listen to the engine and when it starts to sound like a warmed engine sounds, I start to push a little harder. You can tell by just listening to the engine if it's warmed up.
I also agree with Dave, sitting waiting for the engine to reach 2 or 3 bars is a wait of energy and is really not doing any good to the enviroment or most parts of your car.