diff --git a/301/CO_PDO.c b/301/CO_PDO.c
index 70596fa..4527d77 100644
--- a/301/CO_PDO.c
+++ b/301/CO_PDO.c
@@ -741,7 +741,7 @@ CO_RPDO_initCallbackPre(CO_RPDO_t* RPDO, void* object, void (*pFunctSignalPre)(v
 void
 CO_RPDO_process(CO_RPDO_t* RPDO,
 #if ((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
-                uint32_t timeDifference_us, uint32_t* timerNext_us,
+                uint32_t timeDifference_us, bool_t* timeoutState, uint32_t* timerNext_us,
 #endif
                 bool_t NMTisOperational, bool_t syncWas) {
     (void)syncWas;
@@ -890,11 +890,6 @@ CO_RPDO_process(CO_RPDO_t* RPDO,
 #if ((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
         if (RPDO->timeoutTime_us > 0U) {
             if (rpdoReceived) {
-                /* Do NOT call CO_errorReset here. CO_EM_RPDO_TIME_OUT is a
-                 * single shared bit for all RPDOs. Resetting it when one RPDO
-                 * recovers would clear the error even if other RPDOs are still
-                 * timed out. The reset is handled in CO_process_RPDO() after
-                 * all RPDOs are processed, only when none remain in timeout. */
                 /* enable monitoring */
                 RPDO->timeoutTimer = 1;
             } else if ((RPDO->timeoutTimer > 0U) && (RPDO->timeoutTimer < RPDO->timeoutTime_us)) {
@@ -905,6 +900,11 @@ CO_RPDO_process(CO_RPDO_t* RPDO,
                 }
             } else { /* MISRA C 2004 14.10 */
             }
+            if ((timeoutState != NULL) && RPDO->timeoutTimer > RPDO->timeoutTime_us) {
+                /* This output variable indicates that the RPDO has timed out. It can be used across all
+                * RPDOs to determine if any have timed out. If it remains false, CO_errorReset can be called. */
+                *timeoutState = true;
+            }
 #if ((CO_CONFIG_PDO)&CO_CONFIG_FLAG_TIMERNEXT) != 0
             if ((timerNext_us != NULL) && (RPDO->timeoutTimer < RPDO->timeoutTime_us)) {
                 uint32_t diff = RPDO->timeoutTime_us - RPDO->timeoutTimer;
diff --git a/301/CO_PDO.h b/301/CO_PDO.h
index 339bda0..e772ef4 100644
--- a/301/CO_PDO.h
+++ b/301/CO_PDO.h
@@ -278,13 +278,16 @@ void CO_RPDO_initCallbackPre(CO_RPDO_t* RPDO, void* object, void (*pFunctSignalP
  *
  * @param RPDO This object.
  * @param timeDifference_us Time difference from previous function call.
+ * @param [out] timeoutState Pointer to a boolean variable that will be set to true if a RPDO has timed out.
+ * It can be used across all RPDOs to determine if any have timed out. If it remains false, CO_errorReset should be
+ * called. Can be NULL if not needed.
  * @param [out] timerNext_us info to OS - see CO_process().
  * @param NMTisOperational True if this node is in NMT_OPERATIONAL state.
  * @param syncWas True, if CANopen SYNC message was just received or transmitted.
  */
 void CO_RPDO_process(CO_RPDO_t* RPDO,
 #if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
-                     uint32_t timeDifference_us, uint32_t* timerNext_us,
+                     uint32_t timeDifference_us, bool_t* timeoutState, uint32_t* timerNext_us,
 #endif
                      bool_t NMTisOperational, bool_t syncWas);
 #endif /* (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE */
diff --git a/CANopen.c b/CANopen.c
index a00620b..aa541ab 100644
--- a/CANopen.c
+++ b/CANopen.c
@@ -1439,11 +1439,14 @@ CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t*
     }
 
     bool_t NMTisOperational = CO_NMT_getInternalState(co->NMT) == CO_NMT_OPERATIONAL;
+#if ((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
+    bool_t anyTimeout = false;
+#endif
 
     for (uint16_t i = 0; i < CO_GET_CNT(RPDO); i++) {
         CO_RPDO_process(&co->RPDO[i],
 #if ((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0
-                        timeDifference_us, timerNext_us,
+                        timeDifference_us, &anyTimeout, timerNext_us,
 #endif
                         NMTisOperational, syncWas);
     }
@@ -1452,14 +1455,6 @@ CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t*
     /* CO_EM_RPDO_TIME_OUT is a single shared bit for all RPDOs. Only reset it
      * after processing all RPDOs, and only when none remain in timeout.
      * CO_errorReset() is a no-op when the error bit is already clear. */
-    bool_t anyTimeout = false;
-    for (uint16_t i = 0; i < CO_GET_CNT(RPDO); i++) {
-        CO_RPDO_t* rpdo = &co->RPDO[i];
-        if (rpdo->timeoutTime_us > 0U && rpdo->timeoutTimer > rpdo->timeoutTime_us) {
-            anyTimeout = true;
-            break;
-        }
-    }
     if (!anyTimeout) {
         CO_errorReset(co->em, CO_EM_RPDO_TIME_OUT, 0);
     }