Stored Procedures - error handling

[T2B]

I append data from Access to staging tables in SQL Server. Stored
Procedures distribute the data (appends, updates, deletes) in SQL
Server.

I can run the stored procedures from Access but if there is a failure,
I do not know what that failure is, and it may just hang indefinitely.

If I run the stored procedures in SSMS I can see, that for example,
the data appending would have violated the primary key.

Is there a way to send the messages you would see in the Messages
window of SSMS (SQL Server 2005) back to Access?

Are there better suggestions for error handling?

Thanks.