600 mile, 6000 mile, and 18,000 mile service costs about $300 at a reasonably priced dealer. The 12,000 and 24,000 mile services cost closer to $600 because you also need new cam belts (don't skip doing this). Oil changes can be easily done yourself for about $25.00, assuming you buy reasonable quality oil for it. They should be done every 3000 miles, in between the services at the dealer.
Other maintenance expenses I had included rear tires every 3-4000 miles, fronts every 6000 (at the service), and one chain and a pair of sprockets at about 12,000 miles. There was no other unscheduled maintenance on my bike in the 19,600 miles that I rode it (before I wrecked it).
I know I've answered this one at least five times here. It should be in the FAQ.