Error-frames are very rare and in a good system there should be no Error-frames.
Even if you have Error-frames there main cause in a system is a delay of information.
It is better to handle problem on a system level where communication Errors are covered as any other error in a control system.
It should also be noted that in a real time system is one sample error like a small glitch than have very short duration in time and in most cases cannot be recognized.
The best to test a system is to place a test unit between the unit and the CAN-bus. By this test unit it is possible to delay CAN-frames and even remove CAN-frames to check how the system handle loss of information.
By this it is even possible to modify the data to check that the system can handle wrong input data without causing dangerous conditions in the system.