If the idle is hanging the carb is out of sync. I would sync first and re adjusting the pilot screw just like Ducatiman mentioned.
If the carb is already out you might want to install a Dynojet kit for an improved idle and less hesitation. It's different for every Ninja, but my 250 would hesitate on idle and at 6500rpm before I did a re-jet. Now it's just smooth all the way.
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94 900RR
04 BMW Z4 2.5 M Package
01 R170 AMG Sport Package
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