Clear_error via can interface & ProcedureResult.CANCELLED

I have two Odrive S1’s connected via CAN (only) to a control computer (daisy chained).
I sometimes get the error below on both axis. The Odrives continue to function, the
hearbeat reports error ( 0x10201) . I would like to clear this error and continue, is it possible with
CAN connection only ? Secondly what does this error mean ?

Thank you
active_errors: no error
disarm_reason: no error
procedure_result: ProcedureResult.CANCELLED
last_drv_fault: none
internal issues: 1
details for bug report: [(134525752, 372, 64, 0)]