It is possible that your server is sending encrypted RTP (SRTP), while this option is not enabled in Zoiper. The issue here is that you PBX probably accepts both SRTP and standard RTP, which leads to your outgoing calls being accepted. But when the server sends you the call, it is forcing SRTP.
Make sure that your transport is set to TLS and the SRTP (SDES) is enabled in Zoiper.