The problem appears in many of the R100's and these are some of the suggested Cause/Solutions I have heard.
It is Lambda sensor related.
Heat wrapping both of the 'Cats' to keep the temperature high.
Fit a battery Isolation switch to off/on reset the EMU when needed.
Make sure the warning light goes out before the last turn on the Ignition key.
Sports Tail Pipes can introduce a problem not there.
If there is no change to engine running or performance dont worry about it.
Fit an off switch on the lamp???
We,thankfully, have not had this problem in 2900 miles (touch wood).