diff --git a/farmbot_core/lib/farmbot_core/firmware_side_effects.ex b/farmbot_core/lib/farmbot_core/firmware_side_effects.ex
index 22358b13..b5e2bb3a 100644
--- a/farmbot_core/lib/farmbot_core/firmware_side_effects.ex
+++ b/farmbot_core/lib/farmbot_core/firmware_side_effects.ex
@@ -31,6 +31,36 @@ defmodule FarmbotCore.FirmwareSideEffects do
     :noop
   end
 
+  @impl FarmbotFirmware.SideEffects
+  def handle_stall_detected() do
+    FarmbotCore.Logger.error(1, "Movement failed: stall detected")
+    :noop
+  end
+
+  @impl FarmbotFirmware.SideEffects
+  def handle_calibration_error() do
+    FarmbotCore.Logger.error(1, "Calibration failed")
+    :noop
+  end
+
+  @impl FarmbotFirmware.SideEffects
+  def handle_invalid_command() do
+    FarmbotCore.Logger.error(1, "Invalid command")
+    :noop
+  end
+
+  @impl FarmbotFirmware.SideEffects
+  def handle_no_configuration() do
+    FarmbotCore.Logger.error(1, "No configuration")
+    :noop
+  end
+
+  @impl FarmbotFirmware.SideEffects
+  def handle_unknown_error(err) do
+    FarmbotCore.Logger.error(1, "Unknown error: #{inspect(err)}")
+    :noop
+  end
+
   @impl FarmbotFirmware.SideEffects
   def handle_home_complete(_) do
     :noop
diff --git a/farmbot_firmware/lib/farmbot_firmware.ex b/farmbot_firmware/lib/farmbot_firmware.ex
index 64b5bd71..0defbd9d 100644
--- a/farmbot_firmware/lib/farmbot_firmware.ex
+++ b/farmbot_firmware/lib/farmbot_firmware.ex
@@ -729,6 +729,51 @@ defmodule FarmbotFirmware do
     {:noreply, goto(state, :busy)}
   end
 
+  def handle_report({:report_error, [:no_error]}, state) do
+    Logger.error("Error: no error")
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:emergency_lock]}, state) do
+    Logger.error("Error: emergency lock")
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:timeout]}, state) do
+    Logger.error("Error: timeout")
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:stall_detected]}, state) do
+    Logger.error("Error: stall detected")
+    side_effects(state, :handle_stall_detected, [])
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:calibration_error]}, state) do
+    Logger.error("Error: calibration error")
+    side_effects(state, :handle_calibration_error, [])
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:invalid_command]}, state) do
+    Logger.error("Error: invalid command")
+    side_effects(state, :handle_invalid_command, [])
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [:no_config]}, state) do
+    Logger.error("Error: no configuration")
+    side_effects(state, :handle_no_configuration, [])
+    handle_report({:report_error, []}, state)
+  end
+
+  def handle_report({:report_error, [unk]}, state) do
+    Logger.error("Error: #{inspect(unk)}")
+    side_effects(state, :handle_unknown_error, [unk])
+    handle_report({:report_error, []}, state)
+  end
+
   def handle_report(
         {:report_error, _} = code,
         %{status: :configuration} = state
diff --git a/farmbot_firmware/lib/farmbot_firmware/command.ex b/farmbot_firmware/lib/farmbot_firmware/command.ex
index f9d1a859..7595c4d5 100644
--- a/farmbot_firmware/lib/farmbot_firmware/command.ex
+++ b/farmbot_firmware/lib/farmbot_firmware/command.ex
@@ -49,9 +49,14 @@ defmodule FarmbotFirmware.Command do
         debug_log("#{GCODE.encode(code)} position change")
         wait_for_command_result(tag, code, retries, error)
 
-      {_, {:report_error, _}} ->
-        debug_log("#{GCODE.encode(code)} firmware error")
-        if err, do: {:error, err}, else: {:error, :firmware_error}
+      {_, {:report_error, [error_code]}} ->
+        if err do
+          debug_log("#{GCODE.encode(code)} error: #{inspect(err)}")
+          {:error, err}
+        else
+          debug_log("#{GCODE.encode(code)} #{inspect(error_code)}")
+          {:error, "firmware error: #{inspect(error_code)}"}
+        end
 
       {_, {:report_invalid, []}} ->
         debug_log("#{GCODE.encode(code)} invalid command")
diff --git a/farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex b/farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex
index 5cf22902..5f4e5c8a 100644
--- a/farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex
+++ b/farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex
@@ -9,7 +9,7 @@ defmodule FarmbotFirmware.GCODE.Decoder do
   def do_decode("R01", []), do: {:report_begin, []}
   def do_decode("R02", []), do: {:report_success, []}
   def do_decode("R03", []), do: {:report_error, [:no_error]}
-  def do_decode("R03", error), do: {:report_error, decode_error(error)}
+  def do_decode("R03", v), do: {:report_error, decode_v(v)}
   def do_decode("R04", []), do: {:report_busy, []}
 
   def do_decode("R05", xyz), do: {:report_axis_state, decode_axis_state(xyz)}
@@ -99,17 +99,20 @@ defmodule FarmbotFirmware.GCODE.Decoder do
     {:unknown, [kind | args]}
   end
 
-  def decode_error(["V0"]), do: [:no_error]
-  def decode_error(["V1"]), do: [:emergency_lock]
-  def decode_error(["V2"]), do: [:timeout]
-  def decode_error(["V3"]), do: [:stall_detected]
-  def decode_error(["V14"]), do: [:invalid_command]
-  def decode_error(["V15"]), do: [:no_config]
-  def decode_error([unk]), do: [unknown_error: unk]
-  # TODO(Rick): This is a guess. Can be removed if
-  # better solution is found.
-  # FarmBot/farmbot_os/issues/1105#issuecomment-572381069
-  def decode_error(unk), do: [unknown_error: [unk]]
+  def decode_v(["V" <> value]) do
+    {value, ""} = Float.parse(value)
+
+    case value do
+      0.0 -> [:no_error]
+      1.0 -> [:emergency_lock]
+      2.0 -> [:timeout]
+      3.0 -> [:stall_detected]
+      4.0 -> [:calibration_error]
+      14.0 -> [:invalid_command]
+      15.0 -> [:no_config]
+      unk -> [unknown_error: unk]
+    end
+  end
 
   defp decode_floats(list, acc \\ [])
 
diff --git a/farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex b/farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex
index 9eb0813e..cbd565f2 100644
--- a/farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex
+++ b/farmbot_firmware/lib/farmbot_firmware/gcode/encoder.ex
@@ -8,10 +8,8 @@ defmodule FarmbotFirmware.GCODE.Encoder do
   def do_encode(:report_idle, []), do: "R00"
   def do_encode(:report_begin, []), do: "R01"
   def do_encode(:report_success, []), do: "R02"
-  # TODO(Rick): Why are some `:report_error`s sending
-  # tuples instead of lists??
-  # https://github.com/FarmBot/farmbot_os/issues/1105#issuecomment-572381069
-  def do_encode(:report_error, _), do: "R03"
+  def do_encode(:report_error, []), do: "R03"
+  def do_encode(:report_error, error), do: "R03 " <> encode_error(error)
   def do_encode(:report_busy, []), do: "R04"
 
   def do_encode(:report_axis_state, xyz), do: "R05 " <> encode_axis_state(xyz)
@@ -158,6 +156,19 @@ defmodule FarmbotFirmware.GCODE.Encoder do
     "P#{param_id} V#{binary_float}"
   end
 
+  defp encode_error(error) do
+    case error do
+      :no_error -> "V0"
+      :emergency_lock -> "V1"
+      :timeout -> "V2"
+      :stall_detected -> "V3"
+      :calibration_error -> "V4"
+      :invalid_command -> "V14"
+      :no_config -> "V15"
+      _ -> ""
+    end
+  end
+
   defp encode_ints(args) do
     Enum.map(args, fn {key, val} ->
       String.upcase(to_string(key)) <> to_string(val)
diff --git a/farmbot_firmware/lib/farmbot_firmware/request.ex b/farmbot_firmware/lib/farmbot_firmware/request.ex
index 2d21101c..71def3c3 100644
--- a/farmbot_firmware/lib/farmbot_firmware/request.ex
+++ b/farmbot_firmware/lib/farmbot_firmware/request.ex
@@ -74,8 +74,10 @@ defmodule FarmbotFirmware.Request do
           do: {:ok, {tag, result}},
           else: wait_for_request_result(tag, code, result)
 
-      {_, {:report_error, _}} ->
-        {:error, :firmware_error}
+      {_, {:report_error, error_code}} ->
+        if error_code,
+          do: {:error, error_code},
+          else: {:error, :firmware_error}
 
       {_, {:report_invalid, []}} ->
         {:error, :invalid_command}
diff --git a/farmbot_firmware/test/gcode_test.exs b/farmbot_firmware/test/gcode_test.exs
index 1d9e02e0..9bf0756e 100644
--- a/farmbot_firmware/test/gcode_test.exs
+++ b/farmbot_firmware/test/gcode_test.exs
@@ -40,11 +40,17 @@ defmodule FarmbotFirmware.GCODETest do
 
     test "error" do
       assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03")
-      assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03 V0")
+      assert {"1", {:report_error, [:no_error]}} = GCODE.decode("R03 V0 Q1")
       assert {nil, {:report_error, [:emergency_lock]}} = GCODE.decode("R03 V1")
       assert {nil, {:report_error, [:timeout]}} = GCODE.decode("R03 V2")
       assert {nil, {:report_error, [:stall_detected]}} = GCODE.decode("R03 V3")
 
+      assert {nil, {:report_error, [unknown_error: 987.0]}} =
+               GCODE.decode("R03 V987")
+
+      assert {nil, {:report_error, [:calibration_error]}} =
+               GCODE.decode("R03 V4")
+
       assert {nil, {:report_error, [:invalid_command]}} =
                GCODE.decode("R03 V14")
 
@@ -52,6 +58,13 @@ defmodule FarmbotFirmware.GCODETest do
       assert {"100", {:report_error, [:no_error]}} = GCODE.decode("R03 Q100")
 
       assert "R03" = GCODE.encode({nil, {:report_error, []}})
+      assert "R03 V0" = GCODE.encode({nil, {:report_error, :no_error}})
+      assert "R03 V1" = GCODE.encode({nil, {:report_error, :emergency_lock}})
+      assert "R03 V2" = GCODE.encode({nil, {:report_error, :timeout}})
+      assert "R03 V3" = GCODE.encode({nil, {:report_error, :stall_detected}})
+      assert "R03 V4" = GCODE.encode({nil, {:report_error, :calibration_error}})
+      assert "R03 V14" = GCODE.encode({nil, {:report_error, :invalid_command}})
+      assert "R03 V15" = GCODE.encode({nil, {:report_error, :no_config}})
       assert "R03 Q100" = GCODE.encode({"100", {:report_error, []}})
     end