diff --git a/src/include/arm_action_define.h b/src/include/arm_action_define.h
index 92f5e1d..d9e6269 100644
--- a/src/include/arm_action_define.h
+++ b/src/include/arm_action_define.h
@@ -1,6 +1,8 @@
 #ifndef ARM_ACTION_DEFINE_H
 #define ARM_ACTION_DEFINE_H
 
+#include "err_code.h"
+
 #define USED_ARM_DOF                (6)
 #define GOAL_DATA_LENGTH            (7)
 #define USED_OTHER_DOF              (17)
@@ -29,16 +31,5 @@ typedef enum {
     RIGHT_ARM,
     ARM_ID_ERR
 } ArmIdE;
- 
-
-typedef enum {
-    OK = 0,
-    UNKNOWN_ERR = -1,
-    ARM_NOW_FORCE_MOVING = -2,
-    ARM_COLLISION = -3,
-    ARM_AIM_CANNOT_REACH = -4,
-    ARM_NOW_NO_GOAL = -5,
-    ARM_GOAL_CANCELLED = -6,
-} ErrCodeE;
 
 #endif // ARM_ACTION_DEFINE_H
\ No newline at end of file
diff --git a/src/include/err_code.h b/src/include/err_code.h
new file mode 100644
index 0000000..73befa6
--- /dev/null
+++ b/src/include/err_code.h
@@ -0,0 +1,14 @@
+#ifndef ERR_CODE_H
+#define ERR_CODE_H
+
+typedef enum {
+    OK = 0,
+    UNKNOWN_ERR = -1,
+    ARM_NOW_FORCE_MOVING = -2,
+    ARM_COLLISION = -3,
+    ARM_AIM_CANNOT_REACH = -4,
+    ARM_NOW_NO_GOAL = -5,
+    ARM_GOAL_CANCELLED = -6,
+} ErrCodeE;
+
+#endif // ERR_CODE_H
\ No newline at end of file