diff --git a/doc/news/interface_changes/DM-45062.linearstage.rst b/doc/news/interface_changes/DM-45062.linearstage.rst
new file mode 100644
index 000000000..d79be3541
--- /dev/null
+++ b/doc/news/interface_changes/DM-45062.linearstage.rst
@@ -0,0 +1 @@
+Add ErrorCode enum.
\ No newline at end of file
diff --git a/python/lsst/ts/xml/data/sal_interfaces/LinearStage/LinearStage_Events.xml b/python/lsst/ts/xml/data/sal_interfaces/LinearStage/LinearStage_Events.xml
index 9fff1cd12..a45a1c62a 100644
--- a/python/lsst/ts/xml/data/sal_interfaces/LinearStage/LinearStage_Events.xml
+++ b/python/lsst/ts/xml/data/sal_interfaces/LinearStage/LinearStage_Events.xml
@@ -2,6 +2,17 @@
 <?xml-stylesheet type="text/xsl" href="http://lsst-sal.tuc.noao.edu/schema/SALEventSet.xsl"?>
 <SALEventSet xmlns:xsi="http://lsst-sal.tuc.noao.edu/schema/SALEventSet.xsd">
   <Enumeration>DetailedState_NotMovingState, DetailedState_MovingState</Enumeration>
+  <Enumeration>
+    ErrorCode_ConnectionFailed=1,
+    ErrorCode_DisableMotor=2,
+    ErrorCode_EnableMotor=3,
+    ErrorCode_Home=4,
+    ErrorCode_MoveAbsolute=5,
+    ErrorCode_MoveRelative=6,
+    ErrorCode_Position=7,
+    ErrorCode_Telemetry=8,
+    ErrorCode_Stop=9
+  </Enumeration>
   <SALEvent>
     <Subsystem>LinearStage</Subsystem>
     <EFDB_Topic>LinearStage_logevent_detailedState</EFDB_Topic>
diff --git a/python/lsst/ts/xml/enums/LinearStage.py b/python/lsst/ts/xml/enums/LinearStage.py
index 74d1315be..411500ef0 100644
--- a/python/lsst/ts/xml/enums/LinearStage.py
+++ b/python/lsst/ts/xml/enums/LinearStage.py
@@ -1,4 +1,4 @@
-__all__ = ["DetailedState"]
+__all__ = ["DetailedState", "ErrorCode"]
 
 import enum
 
@@ -6,3 +6,25 @@
 class DetailedState(enum.IntEnum):
     NOTMOVINGSTATE = 1
     MOVINGSTATE = 2
+
+
+class ErrorCode(enum.IntEnum):
+    """Error codes that indicate why the CSC went to fault state."""
+
+    CONNECTION_FAILED = 1
+    """Connection to the device failed."""
+    DISABLE_MOTOR = 2
+    """Disabling the motor failed."""
+    ENABLE_MOTOR = 3
+    """Enabling the motor failed."""
+    HOME = 4
+    """Homing the stage failed."""
+    MOVE_ABSOLUTE = 5
+    """The absolute move failed."""
+    MOVE_RELATIVE = 6
+    """The relative move failed."""
+    POSITION = 7
+    """Failed to get the position."""
+    TELEMETRY = 8
+    """The telemetry loop failed."""
+    STOP = 9