In GLAS, error handling is implemented within and is specific to each node. Each node is associated with a specific device, such as a robot, and is equipped with its own error handling logic, which is designed to ensure precise error management. To illustrate, when a UR robot is managed within the Robot Sub-Scheduler, the system is designed to capture and respond to a variety of runtime error conditions, including instances where a connection to a controller is unsuccessful or where it is determined that the robot is not powered on. In such instances, a runtime error is generated, and the node's state is updated to NodeState.ERROR, thereby preventing further operations until the issue is resolved. To illustrate, in the event of a failure to establish a connection with a controller, the system generates an error message indicating that the connection is unsuccessful. The message "Failed to connect to the arm" can then be used to initiate the recovery procedures. In addition to monitoring runtime errors, the system also monitors safety conditions (for instance, with EMERGENCY_STOPPED or PROTECTIVE_STOPPED). This allows the system to track specific safety states and react accordingly. A clear error message, such as "Emergency stop," is logged to indicate a critical halt. In instances where a protective stop is initiated due to safety concerns, such as the potential for collisions or limit violations, the system transitions the node to the NodeState.RECOVERY, terminates any active program, and displays a message indicating the protective stop. The provision of detailed feedback through the use of specific error messages, such as "Arm not placed on the first teach point" or "Robot is not in remote mode", facilitates the rapid diagnosis and recovery of errors, thereby ensuring the robustness and customizability of the error management process for each device. By integrating both runtime error handling and safety status monitoring, the system is capable of managing faults at multiple levels, enabling operators to address the issue and resume safe operations.