Fresh from missing out on pole position on Saturday afternoon, Jorge Lorenzo topped MotoGP morning warm-up in Barcelona in the heightening summer temperatures.

Fast from the off on Saturday morning, Lorenzo put in a performance etched with his trademark consistency to lead Maverick Vi?ales and Marc Marquez.

Lorenzo was quick to get down to ominous pace, dipping into the 1m 41s on his second lap before circulating on the next eight occasions in the high 41s and 42s.

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By comparison, Marquez, Aleix Espargaro (fourth) and Valentino Rossi (sixth) posted consistent runs, albeit in the mid-to-high 42s.

Second on the grid, Vi?ales' session was interrupted by a low-speed fall at turn ten, less than a minute after setting his fastest time of the morning. The Spaniard was uninjured and returned to the track to set two times in the 1m 42s.

Andrea Iannone led Italian compatriots Rossi and Andrea Dovizioso in fifth in a weekend where he has struggled to replicate his form of two weeks ago.

Cal Crutchlow placed eighth, while Pol Espargaro (ninth), Yonny Hernandez (tenth) and Bradley Smith (eleventh) all posted impressive runs that lasted more than ten laps.

1. Jorge Lorenzo
2. Maverick Vi?ales
3. Marc Marquez
4. Aleix Espargaro
5. Andrea Iannone
6. Valentino Rossi
7. Andrea Dovizioso
8. Cal Crutchlow
9. Pol Espargaro
10. Yonny Hernandez
11. Bradley Smith
12. Dani Pedrosa
13. Hector Barbera
14. Stefan Bradl
15. Nicky Hayden
16. Scott Redding
17. Alvaro Bautista
18. Mike Di Meglio
19. Danilo Petrucci
20. Loris Baz
21. Jack Miller
22. Eugene Laverty
23. Alex De Angelis
24. Marco Melandri
Karel Abraham