EDI - Incoming Invoice Error and GR based Invoice Verification - 51 No GR

We are implementing EDI for incoming invoices and use Goods Receipts based Invoice Verification.  When processing an inbound IDOC Invoice (type INVOIC01) where the Goods Receipt has not yet been posted, then Inbound IDOC is siiting at Error Status, 51 - No GR documents found.
Is there any way we can process this as a Parked Invoice or for Verification in the background (MIRA)?  because the current situation is a problem, as 95% of our Inbound Invoices will be received electronically before the Goods are Received. 
The actual Vendor's delivery note is stored in the segment E1EDP02 (Qualifier 016), field BELNR.
Currently the IDOC as to sit in error until the Vendor's Delivery Note is Goods Receipted which can be several days later - SAP OSS Note 393883 fro 2001 suggests doing this, but surely this is a common situation.  The IDOC sitting in error in WE02 in the list of IDOCs is difficult to isolate from true errors.
If this is was mnaul Invoice it could be processed through MIRA for background Invoice Verification later with program RMBABG00.
We havd SAP version ECC 6.0
I have spotted OSS Note 501524 which implies that is possible automatically Park Incoming EDI IDOC Invoices, has anyone tried this?  and what would be the transaction/program that could be used to post several at once when the GR has been processed (similar to RMBABG00)

Hi ,
You can use the program   RBDMANI2   which will reprocess all the IDOCs (EDIinvoices )that have failed . You can schedule this program in the background and it will post all failed invoices which have the GR posted later .
We had the same scenario and we have scheduled this program as a daily job at night .

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