Schunk lwa4p random stops with ros_canopen

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Hi,

I am running Schunk lwa4p arm using ros_canopen and schunk_robots from ipa320. For the most part, robot works fine (except I am having issues initializing the robot with sync interval lower than 25ms). However, at random times it just puts out the following EMCY code:

EMCY: 83#128621D633D81848

In most cases, the robot can easily be recovered using /driver/recover service. Depending on the pose of the robot in which it stopped, sometimes it continues to move normally but sometimes I get the following errors when trying to resume motion:

EMCY: 88#2132257200000000

EMCY: 83#2132257200000000

EMCY: 84#2132257200000000

EMCY: 85#2132257200000000

EMCY: 86#2132257200000000

EMCY: 87#2132257200000000

From this situation, the robot cannot recover, I just get a flood of Did not receive a response message messages and then the following error:

[ERROR] [1567520915.927482791]: CAN not ready; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; RPDO timeout; CAN not ready

At this point, the only thing that worked was restarting the robot completely. Any hints what all these EMCY codes mean? I guess the latter part has something to do with current, but the first part (EMCY: 83#128621D633D81848) I don't know what it should represent, let alone why it happens.