G'day Bigdave58,
I also own a '02 ZRX1200S. These bikes run a emission exhaust system. The later ZRX's even have a catalytic convertor.
From your airbox to the top of the rocker cover you will see some rubber hoses some people call it a spider it goes into to plates attached to your r/cover under these plates are reed valves these valve allow clean air into all 4 exhaust ports to "clean" up your emissions. You can buy block off kits from a few places in the states (Muzzy, Ivan's) are a couple. You can also try richening up your idle mixture! I am not sure about your bike but some ZRX's idle mixture screws are capped and require a plug to be removed. Best done with carbs off bike. If you have no plugs then just check where your screws are set and wind them from base to approx 3 turns out and see how it goes. It is very normal for ZRX's to pop. I like it, On the dyno my beast on decel spits out about a 12" blue flame looks awesome!!!
Hope this explains the popping for you!!!
