ANTLR's only built-in error reporting mechanism is pretty simple, and doesn't provide a way to give error categories or numbers to particular errors. Often, all syntax errors that occur at parse time are given the same error number. For example, the ANTLR 4 tool reports parser errors as error 50.
After the initial parse is complete and you have a parse tree (ANTLR 4) or AST (ANTLR 3) available, you can continue to perform semantic evaluation. Errors that are identified from there on can be considered either errors or warnings depending on their overall impact. The data structures you use for this are sometime application-specific, such as a Visual Studio or NetBeans extension which needs to report the errors/warnings to specific UI components, but are otherwise free for you to define in whatever manner makes sense to you.