diff --git a/docs/source/notebooks/BeginnersGuide.ipynb b/docs/source/notebooks/BeginnersGuide.ipynb
index 58be889..23b6239 100644
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        "</g>\n",
-       "<!-- 139993079960672&#45;&gt;139992458927216 -->\n",
+       "<!-- 140182370881984&#45;&gt;140182370884528 -->\n",
        "<g id=\"edge10\" class=\"edge\">\n",
-       "<title>139993079960672&#45;&gt;139992458927216</title>\n",
-       "<path fill=\"none\" stroke=\"black\" d=\"M803.2,-144.05C796.37,-135.67 787.99,-125.38 780.44,-116.1\"/>\n",
-       "<polygon fill=\"black\" stroke=\"black\" points=\"783.1,-113.82 774.07,-108.28 777.67,-118.24 783.1,-113.82\"/>\n",
+       "<title>140182370881984&#45;&gt;140182370884528</title>\n",
+       "<path fill=\"none\" stroke=\"black\" d=\"M505.93,-144.05C499.52,-135.75 491.68,-125.58 484.58,-116.38\"/>\n",
+       "<polygon fill=\"black\" stroke=\"black\" points=\"487.21,-114.06 478.33,-108.28 481.66,-118.33 487.21,-114.06\"/>\n",
        "</g>\n",
-       "<!-- 139992458926784 -->\n",
+       "<!-- 140182371922800 -->\n",
        "<g id=\"node12\" class=\"node\">\n",
-       "<title>139992458926784</title>\n",
-       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"925.5,-108 822.5,-108 822.5,-72 925.5,-72 925.5,-108\"/>\n",
-       "<text text-anchor=\"middle\" x=\"874\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">Param(&#39;phi&#39;)</text>\n",
+       "<title>140182371922800</title>\n",
+       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"564,-108 510,-108 510,-72 564,-72 564,-108\"/>\n",
+       "<text text-anchor=\"middle\" x=\"537\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">phi</text>\n",
        "</g>\n",
-       "<!-- 139993079960672&#45;&gt;139992458926784 -->\n",
+       "<!-- 140182370881984&#45;&gt;140182371922800 -->\n",
        "<g id=\"edge11\" class=\"edge\">\n",
-       "<title>139993079960672&#45;&gt;139992458926784</title>\n",
-       "<path fill=\"none\" stroke=\"black\" d=\"M830.8,-144.05C837.63,-135.67 846.01,-125.38 853.56,-116.1\"/>\n",
-       "<polygon fill=\"black\" stroke=\"black\" points=\"856.33,-118.24 859.93,-108.28 850.9,-113.82 856.33,-118.24\"/>\n",
+       "<title>140182370881984&#45;&gt;140182371922800</title>\n",
+       "<path fill=\"none\" stroke=\"black\" d=\"M523.45,-143.7C525.45,-135.9 527.87,-126.51 530.1,-117.83\"/>\n",
+       "<polygon fill=\"black\" stroke=\"black\" points=\"533.5,-118.66 532.6,-108.1 526.72,-116.92 533.5,-118.66\"/>\n",
        "</g>\n",
-       "<!-- 139992458927792 -->\n",
+       "<!-- 140182371924000 -->\n",
        "<g id=\"node13\" class=\"node\">\n",
-       "<title>139992458927792</title>\n",
-       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"1066.5,-108 943.5,-108 943.5,-72 1066.5,-72 1066.5,-108\"/>\n",
-       "<text text-anchor=\"middle\" x=\"1005\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">Param(&#39;sigma&#39;)</text>\n",
+       "<title>140182371924000</title>\n",
+       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"641.5,-108 582.5,-108 582.5,-72 641.5,-72 641.5,-108\"/>\n",
+       "<text text-anchor=\"middle\" x=\"612\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">sigma</text>\n",
        "</g>\n",
-       "<!-- 139993079960672&#45;&gt;139992458927792 -->\n",
+       "<!-- 140182370881984&#45;&gt;140182371924000 -->\n",
        "<g id=\"edge12\" class=\"edge\">\n",
-       "<title>139993079960672&#45;&gt;139992458927792</title>\n",
-       "<path fill=\"none\" stroke=\"black\" d=\"M861.08,-144.59C887.48,-134.76 921.3,-122.17 949.51,-111.66\"/>\n",
-       "<polygon fill=\"black\" stroke=\"black\" points=\"951.09,-114.81 959.24,-108.04 948.64,-108.25 951.09,-114.81\"/>\n",
+       "<title>140182370881984&#45;&gt;140182371924000</title>\n",
+       "<path fill=\"none\" stroke=\"black\" d=\"M541.51,-144.05C553.42,-135.09 568.21,-123.96 581.17,-114.2\"/>\n",
+       "<polygon fill=\"black\" stroke=\"black\" points=\"583.49,-116.84 589.37,-108.03 579.28,-111.25 583.49,-116.84\"/>\n",
        "</g>\n",
-       "<!-- 139992458925776 -->\n",
+       "<!-- 140182371923280 -->\n",
        "<g id=\"node14\" class=\"node\">\n",
-       "<title>139992458925776</title>\n",
-       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"1179.5,-108 1084.5,-108 1084.5,-72 1179.5,-72 1179.5,-108\"/>\n",
-       "<text text-anchor=\"middle\" x=\"1132\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">Param(&#39;I0&#39;)</text>\n",
+       "<title>140182371923280</title>\n",
+       "<polygon fill=\"lightgrey\" stroke=\"lightgrey\" points=\"714,-108 660,-108 660,-72 714,-72 714,-108\"/>\n",
+       "<text text-anchor=\"middle\" x=\"687\" y=\"-86.3\" font-family=\"Times,serif\" font-size=\"14.00\">I0</text>\n",
        "</g>\n",
-       "<!-- 139993079960672&#45;&gt;139992458925776 -->\n",
+       "<!-- 140182370881984&#45;&gt;140182371923280 -->\n",
        "<g id=\"edge13\" class=\"edge\">\n",
-       "<title>139993079960672&#45;&gt;139992458925776</title>\n",
-       "<path fill=\"none\" stroke=\"black\" d=\"M896.78,-146.66C945.7,-137.4 1009.77,-124.45 1074.46,-108.29\"/>\n",
-       "<polygon fill=\"black\" stroke=\"black\" points=\"1075.59,-111.61 1084.43,-105.77 1073.87,-104.82 1075.59,-111.61\"/>\n",
+       "<title>140182370881984&#45;&gt;140182371923280</title>\n",
+       "<path fill=\"none\" stroke=\"black\" d=\"M561.47,-144.69C585.35,-135.35 615.85,-123.14 650.55,-108.09\"/>\n",
+       "<polygon fill=\"black\" stroke=\"black\" points=\"652.19,-111.19 659.95,-103.98 649.39,-104.78 652.19,-111.19\"/>\n",
        "</g>\n",
-       "<!-- 139992458928032&#45;&gt;139992457824096 -->\n",
+       "<!-- 140182370882032&#45;&gt;140182369524896 -->\n",
        "<g id=\"edge8\" class=\"edge\">\n",
-       "<title>139992458928032&#45;&gt;139992457824096</title>\n",
-       "<path fill=\"none\" stroke=\"black\" d=\"M598.81,-74.57C595.5,-73.68 592.2,-72.81 589,-72 530.46,-57.15 463.31,-42.58 414.79,-32.49\"/>\n",
-       "<polygon fill=\"black\" stroke=\"black\" points=\"415.23,-29.01 404.73,-30.4 413.81,-35.86 415.23,-29.01\"/>\n",
+       "<title>140182370882032&#45;&gt;140182369524896</title>\n",
+       "<path fill=\"none\" stroke=\"black\" d=\"M366,-75.91C362.98,-74.55 359.94,-73.22 357,-72 319.97,-56.62 276.7,-41.34 246.74,-31.16\"/>\n",
+       "<polygon fill=\"black\" stroke=\"black\" points=\"247.71,-27.79 237.12,-27.91 245.47,-34.43 247.71,-27.79\"/>\n",
        "</g>\n",
        "</g>\n",
        "</svg>\n"
       ],
       "text/plain": [
-       "<graphviz.graphs.Digraph at 0x7f5288b840a0>"
+       "<graphviz.graphs.Digraph at 0x7f7ec05831f0>"
       ]
      },
      "execution_count": 13,
@@ -1156,42 +1156,42 @@
        "</style>\n",
        "\n",
        "<div class=\"animation\">\n",
-       "  <img id=\"_anim_img68590b60fa8144c6992d1c9805748126\">\n",
+       "  <img id=\"_anim_imgf0ea50e791504cda99b2a274f3032690\">\n",
        "  <div class=\"anim-controls\">\n",
-       "    <input id=\"_anim_slider68590b60fa8144c6992d1c9805748126\" type=\"range\" class=\"anim-slider\"\n",
+       "    <input id=\"_anim_sliderf0ea50e791504cda99b2a274f3032690\" type=\"range\" class=\"anim-slider\"\n",
        "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
-       "           oninput=\"anim68590b60fa8144c6992d1c9805748126.set_frame(parseInt(this.value));\">\n",
+       "           oninput=\"animf0ea50e791504cda99b2a274f3032690.set_frame(parseInt(this.value));\">\n",
        "    <div class=\"anim-buttons\">\n",
-       "      <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"anim68590b60fa8144c6992d1c9805748126.slower()\">\n",
+       "      <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"animf0ea50e791504cda99b2a274f3032690.slower()\">\n",
        "          <i class=\"fa fa-minus\"></i></button>\n",
-       "      <button title=\"First frame\" aria-label=\"First frame\" onclick=\"anim68590b60fa8144c6992d1c9805748126.first_frame()\">\n",
+       "      <button title=\"First frame\" aria-label=\"First frame\" onclick=\"animf0ea50e791504cda99b2a274f3032690.first_frame()\">\n",
        "        <i class=\"fa fa-fast-backward\"></i></button>\n",
-       "      <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"anim68590b60fa8144c6992d1c9805748126.previous_frame()\">\n",
+       "      <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"animf0ea50e791504cda99b2a274f3032690.previous_frame()\">\n",
        "          <i class=\"fa fa-step-backward\"></i></button>\n",
-       "      <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"anim68590b60fa8144c6992d1c9805748126.reverse_animation()\">\n",
+       "      <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"animf0ea50e791504cda99b2a274f3032690.reverse_animation()\">\n",
        "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
-       "      <button title=\"Pause\" aria-label=\"Pause\" onclick=\"anim68590b60fa8144c6992d1c9805748126.pause_animation()\">\n",
+       "      <button title=\"Pause\" aria-label=\"Pause\" onclick=\"animf0ea50e791504cda99b2a274f3032690.pause_animation()\">\n",
        "          <i class=\"fa fa-pause\"></i></button>\n",
-       "      <button title=\"Play\" aria-label=\"Play\" onclick=\"anim68590b60fa8144c6992d1c9805748126.play_animation()\">\n",
+       "      <button title=\"Play\" aria-label=\"Play\" onclick=\"animf0ea50e791504cda99b2a274f3032690.play_animation()\">\n",
        "          <i class=\"fa fa-play\"></i></button>\n",
-       "      <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"anim68590b60fa8144c6992d1c9805748126.next_frame()\">\n",
+       "      <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"animf0ea50e791504cda99b2a274f3032690.next_frame()\">\n",
        "          <i class=\"fa fa-step-forward\"></i></button>\n",
-       "      <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"anim68590b60fa8144c6992d1c9805748126.last_frame()\">\n",
+       "      <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"animf0ea50e791504cda99b2a274f3032690.last_frame()\">\n",
        "          <i class=\"fa fa-fast-forward\"></i></button>\n",
-       "      <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"anim68590b60fa8144c6992d1c9805748126.faster()\">\n",
+       "      <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"animf0ea50e791504cda99b2a274f3032690.faster()\">\n",
        "          <i class=\"fa fa-plus\"></i></button>\n",
        "    </div>\n",
-       "    <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_select68590b60fa8144c6992d1c9805748126\"\n",
+       "    <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_selectf0ea50e791504cda99b2a274f3032690\"\n",
        "          class=\"anim-state\">\n",
-       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_68590b60fa8144c6992d1c9805748126\"\n",
+       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_f0ea50e791504cda99b2a274f3032690\"\n",
        "             >\n",
-       "      <label for=\"_anim_radio1_68590b60fa8144c6992d1c9805748126\">Once</label>\n",
-       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_68590b60fa8144c6992d1c9805748126\"\n",
+       "      <label for=\"_anim_radio1_f0ea50e791504cda99b2a274f3032690\">Once</label>\n",
+       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_f0ea50e791504cda99b2a274f3032690\"\n",
        "             checked>\n",
-       "      <label for=\"_anim_radio2_68590b60fa8144c6992d1c9805748126\">Loop</label>\n",
-       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_68590b60fa8144c6992d1c9805748126\"\n",
+       "      <label for=\"_anim_radio2_f0ea50e791504cda99b2a274f3032690\">Loop</label>\n",
+       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_f0ea50e791504cda99b2a274f3032690\"\n",
        "             >\n",
-       "      <label for=\"_anim_radio3_68590b60fa8144c6992d1c9805748126\">Reflect</label>\n",
+       "      <label for=\"_anim_radio3_f0ea50e791504cda99b2a274f3032690\">Reflect</label>\n",
        "    </form>\n",
        "  </div>\n",
        "</div>\n",
@@ -1201,9 +1201,9 @@
        "  /* Instantiate the Animation class. */\n",
        "  /* The IDs given should match those used in the template above. */\n",
        "  (function() {\n",
-       "    var img_id = \"_anim_img68590b60fa8144c6992d1c9805748126\";\n",
-       "    var slider_id = \"_anim_slider68590b60fa8144c6992d1c9805748126\";\n",
-       "    var loop_select_id = \"_anim_loop_select68590b60fa8144c6992d1c9805748126\";\n",
+       "    var img_id = \"_anim_imgf0ea50e791504cda99b2a274f3032690\";\n",
+       "    var slider_id = \"_anim_sliderf0ea50e791504cda99b2a274f3032690\";\n",
+       "    var loop_select_id = \"_anim_loop_selectf0ea50e791504cda99b2a274f3032690\";\n",
        "    var frames = new Array(64);\n",
        "    \n",
        "  frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAoAAAAHgCAYAAAA10dzkAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\\\n",
@@ -27072,7 +27072,7 @@
        "    /* set a timeout to make sure all the above elements are created before\n",
        "       the object is initialized. */\n",
        "    setTimeout(function() {\n",
-       "        anim68590b60fa8144c6992d1c9805748126 = new Animation(frames, img_id, slider_id, 59.0,\n",
+       "        animf0ea50e791504cda99b2a274f3032690 = new Animation(frames, img_id, slider_id, 59.0,\n",
        "                                 loop_select_id);\n",
        "    }, 0);\n",
        "  })()\n",
@@ -27124,8 +27124,8 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "for-loop time taken:  0.3419454097747803\n",
-      "vmap time taken:  0.0344240665435791\n"
+      "for-loop time taken:  0.23389983177185059\n",
+      "vmap time taken:  0.06905579566955566\n"
      ]
     }
    ],
@@ -27192,7 +27192,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "batched time taken:  0.03307318687438965\n"
+      "batched time taken:  0.033159494400024414\n"
      ]
     }
    ],
diff --git a/src/caskade/__init__.py b/src/caskade/__init__.py
index d43925b..95e00b5 100644
--- a/src/caskade/__init__.py
+++ b/src/caskade/__init__.py
@@ -6,9 +6,42 @@
 from .module import Module
 from .param import Param
 from .tests import test
+from .errors import (
+    CaskadeException,
+    GraphError,
+    NodeConfigurationError,
+    ParamConfigurationError,
+    ParamTypeError,
+    ActiveStateError,
+    FillDynamicParamsError,
+    FillDynamicParamsTensorError,
+    FillDynamicParamsSequenceError,
+    FillDynamicParamsMappingError,
+)
+from .warnings import CaskadeWarning, InvalidValueWarning
 
 
 __version__ = VERSION
 __author__ = "Connor Stone and Alexandre Adam"
 
-__all__ = ("Node", "Module", "Param", "ActiveContext", "ValidContext", "forward", "test")
+__all__ = (
+    "Node",
+    "Module",
+    "Param",
+    "ActiveContext",
+    "ValidContext",
+    "forward",
+    "test",
+    "CaskadeException",
+    "GraphError",
+    "NodeConfigurationError",
+    "ParamConfigurationError",
+    "ParamTypeError",
+    "ActiveStateError",
+    "FillDynamicParamsError",
+    "FillDynamicParamsTensorError",
+    "FillDynamicParamsSequenceError",
+    "FillDynamicParamsMappingError",
+    "CaskadeWarning",
+    "InvalidValueWarning",
+)
diff --git a/src/caskade/base.py b/src/caskade/base.py
index b180dfe..c844353 100644
--- a/src/caskade/base.py
+++ b/src/caskade/base.py
@@ -1,5 +1,7 @@
 from typing import Optional, Union
 
+from .errors import GraphError, NodeConfigurationError
+
 
 class Node(object):
     """
@@ -30,8 +32,10 @@ class Node(object):
     def __init__(self, name: Optional[str] = None):
         if name is None:
             name = self.__class__.__name__
-        assert isinstance(name, str), f"{self.__class__.__name__} name must be a string"
-        assert "|" not in name, f"{self.__class__.__name__} cannot contain '|'"
+        if not isinstance(name, str):
+            raise NodeConfigurationError(f"{self.__class__.__name__} name must be a string")
+        if "|" in name:
+            raise NodeConfigurationError(f"{self.__class__.__name__} cannot contain '|'")
         self._name = name
         self._children = {}
         self._parents = set()
@@ -80,12 +84,12 @@ def link(self, key: Union[str, "Node"], child: Optional["Node"] = None):
             key = child.name
         # Avoid double linking to the same object
         if key in self.children:
-            raise ValueError(f"Child key {key} already linked to parent {self.name}")
+            raise GraphError(f"Child key {key} already linked to parent {self.name}")
         if child in self.children.values():
-            raise ValueError(f"Child {child.name} already linked to parent {self.name}")
+            raise GraphError(f"Child {child.name} already linked to parent {self.name}")
         # avoid cycles
         if self in child.topological_ordering():
-            raise ValueError(
+            raise GraphError(
                 f"Linking {child.name} to {self.name} would create a cycle in the graph"
             )
 
@@ -175,7 +179,7 @@ def add_node(node, dot):
             if node in components:
                 return
             dot.attr("node", **node.graphviz_types[node._type])
-            dot.node(str(id(node)), f"{node.__class__.__name__}('{node.name}')")
+            dot.node(str(id(node)), repr(node))
             components.add(node)
 
             for child in node.children.values():
diff --git a/src/caskade/decorators.py b/src/caskade/decorators.py
index 9c483de..17428b2 100644
--- a/src/caskade/decorators.py
+++ b/src/caskade/decorators.py
@@ -45,7 +45,7 @@ def wrapped(self, *args, **kwargs):
             args = args[:-1]
         else:
             raise ValueError(
-                f"Params must be provided for dynamic modules. Expected {len(self.dynamic_params)} params."
+                f"Params must be provided for a top level @forward method. Either by keyword 'method(params=params)' or as the last positional argument 'method(a, b, c, params)'"
             )
 
         with ActiveContext(self):
diff --git a/src/caskade/errors.py b/src/caskade/errors.py
new file mode 100644
index 0000000..7da52fe
--- /dev/null
+++ b/src/caskade/errors.py
@@ -0,0 +1,93 @@
+from math import prod
+from textwrap import dedent
+
+
+class CaskadeException(Exception):
+    """Base class for all exceptions in Caskade."""
+
+
+class GraphError(CaskadeException):
+    """Class for graph exceptions in Caskade."""
+
+
+class NodeConfigurationError(CaskadeException):
+    """Class for node configuration exceptions in Caskade."""
+
+
+class ParamConfigurationError(NodeConfigurationError):
+    """Class for parameter configuration exceptions in Caskade."""
+
+
+class ParamTypeError(CaskadeException):
+    """Class for exceptions related to the type of a parameter in Caskade."""
+
+
+class ActiveStateError(CaskadeException):
+    """Class for exceptions related to the active state of a node in Caskade."""
+
+
+class FillDynamicParamsError(CaskadeException):
+    """Class for exceptions related to filling dynamic parameters in Caskade."""
+
+
+class FillDynamicParamsTensorError(FillDynamicParamsError):
+    def __init__(self, name, input_params, dynamic_params):
+        fullnumel = sum(max(1, prod(p.shape)) for p in dynamic_params)
+        message = dedent(
+            f"""
+            For flattened Tensor input, the (last) dim of the Tensor should
+            equal the sum of all flattened dynamic params ({fullnumel}).
+            Input params shape {input_params.shape} does not match dynamic
+            params shape of: {name}. 
+            
+            Registered dynamic params (name: shape):
+            {', '.join(f"{repr(p)}: {str(p.shape)}" for p in dynamic_params)}"""
+        )
+        super().__init__(message)
+
+
+class FillDynamicParamsSequenceError(FillDynamicParamsError):
+    def __init__(self, name, input_params, dynamic_params, dynamic_modules):
+        message = dedent(
+            f"""
+            Input params length ({len(input_params)}) does not match dynamic
+            params length ({len(dynamic_params)}) or number of dynamic
+            modules ({len(dynamic_modules)}) of: {name}.
+            
+            Registered dynamic modules: 
+            {', '.join(repr(m) for m in dynamic_modules)}
+
+            Registered dynamic params:
+            {', '.join(repr(p) for p in dynamic_params)}"""
+        )
+        super().__init__(message)
+
+
+class FillDynamicParamsMappingError(FillDynamicParamsError):
+    def __init__(self, name, children, dynamic_modules, missing_key=None, missing_param=None):
+        if missing_key is not None:
+            message = dedent(
+                f"""
+                Input params key "{missing_key}" not found in dynamic modules or children of: {name}. 
+                
+                Registered dynamic modules: 
+                {', '.join(repr(m) for m in dynamic_modules)}
+
+                Registered dynamic children:
+                {', '.join(repr(c) for c in children.values() if c.dynamic)}"""
+            )
+        else:
+            message = dedent(
+                f"""
+                Dynamic param "{missing_param.name}" not filled with given input params dict passed to {name}.
+
+                Dynamic param parent(s):
+                {', '.join(repr(p) for p in missing_param.parents)}
+                
+                Registered dynamic modules: 
+                {', '.join(repr(m) for m in dynamic_modules)}
+
+                Registered dynamic children:
+                {', '.join(repr(c) for c in children.values() if c.dynamic)}"""
+            )
+        super().__init__(message)
diff --git a/src/caskade/module.py b/src/caskade/module.py
index 7cee98f..a60c4a0 100644
--- a/src/caskade/module.py
+++ b/src/caskade/module.py
@@ -6,6 +6,13 @@
 
 from .base import Node
 from .param import Param
+from .errors import (
+    ActiveStateError,
+    ParamConfigurationError,
+    FillDynamicParamsTensorError,
+    FillDynamicParamsSequenceError,
+    FillDynamicParamsMappingError,
+)
 
 
 class Module(Node):
@@ -100,7 +107,8 @@ def fill_params(self, params: Union[Tensor, Sequence, Mapping], local=False):
             the dictionary, but you will get an error eventually if a value is
             missing.
         """
-        assert self.active, "Module must be active to fill params"
+        if not self.active:
+            raise ActiveStateError("Module must be active to fill params")
 
         if self.valid_context and not local:
             params = self.from_valid(params)
@@ -114,7 +122,7 @@ def fill_params(self, params: Union[Tensor, Sequence, Mapping], local=False):
             pos = 0
             for param in dynamic_params:
                 if not isinstance(param.shape, tuple):
-                    raise ValueError(
+                    raise ParamConfigurationError(
                         f"Param {param.name} has no shape. dynamic parameters must have a shape to use Tensor input."
                     )
                 # Handle scalar parameters
@@ -122,16 +130,11 @@ def fill_params(self, params: Union[Tensor, Sequence, Mapping], local=False):
                 try:
                     param._value = params[..., pos : pos + size].view(B + param.shape)
                 except (RuntimeError, IndexError):
-                    fullnumel = sum(max(1, prod(p.shape)) for p in dynamic_params)
-                    raise AssertionError(
-                        f"Input params shape {params.shape} does not match dynamic params shape of {self.name}. Make sure the last dimension has size equal to the sum of all dynamic params sizes ({fullnumel})."
-                    )
+                    raise FillDynamicParamsTensorError(self.name, params, dynamic_params)
+
                 pos += size
             if pos != params.shape[-1]:
-                fullnumel = sum(max(1, prod(p.shape)) for p in dynamic_params)
-                raise AssertionError(
-                    f"Input params length {params.shape} does not match dynamic params length ({fullnumel}) of {self.name}. Not all dynamic params were filled."
-                )
+                raise FillDynamicParamsTensorError(self.name, params, dynamic_params)
         elif isinstance(params, Sequence):
             if len(params) == len(dynamic_params):
                 for param, value in zip(dynamic_params, params):
@@ -140,8 +143,8 @@ def fill_params(self, params: Union[Tensor, Sequence, Mapping], local=False):
                 for module, value in zip(self.dynamic_modules.values(), params):
                     module.fill_params(value, local=True)
             else:
-                raise AssertionError(
-                    f"Input params length ({len(params)}) does not match dynamic params length ({len(dynamic_params)}) or number of dynamic modules ({len(self.dynamic_modules)}) for {self.name}"
+                raise FillDynamicParamsSequenceError(
+                    self.name, params, dynamic_params, self.dynamic_modules
                 )
         elif isinstance(params, Mapping):
             for key in params:
@@ -150,19 +153,26 @@ def fill_params(self, params: Union[Tensor, Sequence, Mapping], local=False):
                 elif key in self.children and self[key].dynamic:
                     self[key]._value = params[key]
                 else:
-                    raise ValueError(
-                        f"Key {key} not found in dynamic modules or {self.name} children"
+                    raise FillDynamicParamsMappingError(
+                        self.name, self.children, self.dynamic_modules, missing_key=key
                     )
+            if not local:
+                for param in dynamic_params:
+                    if param._value is None:
+                        raise FillDynamicParamsMappingError(
+                            self.name, self.children, self.dynamic_modules, missing_param=param
+                        )
         else:
-            raise ValueError(
-                f"Input params type {type(params)} not supported. Should be Tensor, Sequence or Mapping."
+            raise TypeError(
+                f"Input params type {type(params)} not supported. Should be Tensor, Sequence, or Mapping."
             )
 
     def clear_params(self):
         """Set all dynamic parameters to None and live parameters to LiveParam.
         This is to be used on exiting an `ActiveContext` and so should not be
         used by a user."""
-        assert self.active, "Module must be active to clear params"
+        if not self.active:
+            raise ActiveStateError("Module must be active to clear params")
 
         for param in self.dynamic_params + self.pointer_params:
             param._value = None
@@ -203,8 +213,8 @@ def to_valid(self, params: Union[Tensor, Sequence, Mapping], local=False):
                 for module, value in zip(self.dynamic_modules.values(), params):
                     valid_params.append(module.to_valid(value, local=True))
             else:
-                raise AssertionError(
-                    f"Input params length ({len(valid_params)}) does not match dynamic params length ({len(dynamic_params)}) or number of dynamic children ({len(self.children)})"
+                raise FillDynamicParamsSequenceError(
+                    self.name, params, dynamic_params, self.dynamic_modules
                 )
         elif isinstance(params, Mapping):
             valid_params = {}
@@ -214,11 +224,11 @@ def to_valid(self, params: Union[Tensor, Sequence, Mapping], local=False):
                 elif key in self.children and self[key].dynamic:
                     valid_params[key] = self[key].to_valid(params[key])
                 else:
-                    raise ValueError(
-                        f"Key {key} not found in dynamic modules or {self.name} children"
+                    raise FillDynamicParamsMappingError(
+                        self.name, self.children, self.dynamic_modules, missing_key=key
                     )
         else:
-            raise ValueError(
+            raise TypeError(
                 f"Input params type {type(params)} not supported. Should be Tensor, Sequence, or Mapping."
             )
         return valid_params
@@ -249,8 +259,8 @@ def from_valid(self, valid_params: Union[Tensor, Sequence, Mapping], local=False
                 for module, value in zip(self.dynamic_modules.values(), valid_params):
                     params.append(module.from_valid(value, local=True))
             else:
-                raise AssertionError(
-                    f"Input params length ({len(params)}) does not match dynamic params length ({len(dynamic_params)}) or number of dynamic children ({len(self.children)})"
+                raise FillDynamicParamsSequenceError(
+                    self.name, valid_params, dynamic_params, self.dynamic_modules
                 )
         elif isinstance(valid_params, Mapping):
             params = {}
@@ -262,11 +272,11 @@ def from_valid(self, valid_params: Union[Tensor, Sequence, Mapping], local=False
                 elif key in self.children and self[key].dynamic:
                     params[key] = self[key].from_valid(valid_params[key])
                 else:
-                    raise ValueError(
-                        f"Key {key} not found in dynamic modules or {self.name} children"
+                    raise FillDynamicParamsMappingError(
+                        self.name, self.children, self.dynamic_modules, missing_key=key
                     )
         else:
-            raise ValueError(
+            raise TypeError(
                 f"Input params type {type(valid_params)} not supported. Should be Tensor, Sequence or Mapping."
             )
         return params
diff --git a/src/caskade/param.py b/src/caskade/param.py
index 535a1c8..5c4c05c 100644
--- a/src/caskade/param.py
+++ b/src/caskade/param.py
@@ -1,10 +1,13 @@
 from typing import Optional, Union, Callable
+from warnings import warn
 
 import torch
 from torch import Tensor
 from torch import pi
 
 from .base import Node
+from .errors import ParamConfigurationError, ParamTypeError, ActiveStateError
+from .warnings import InvalidValueWarning
 
 
 class Param(Node):
@@ -65,15 +68,16 @@ def __init__(
         super().__init__(name=name)
         if value is None:
             if shape is None:
-                raise ValueError("Either value or shape must be provided")
+                raise ParamConfigurationError("Either value or shape must be provided")
             if not isinstance(shape, tuple):
-                raise ValueError("Shape must be a tuple")
+                raise ParamConfigurationError("Shape must be a tuple")
             self.shape = shape
         elif not isinstance(value, (Param, Callable)):
             value = torch.as_tensor(value)
-            assert (
-                shape == () or shape is None or shape == value.shape
-            ), f"Shape {shape} does not match value shape {value.shape}"
+            if not (shape == () or shape is None or shape == value.shape):
+                raise ParamConfigurationError(
+                    f"Shape {shape} does not match value shape {value.shape}"
+                )
         self.value = value
         self.cyclic = cyclic
         self.valid = valid
@@ -98,7 +102,7 @@ def shape(self) -> tuple:
     @shape.setter
     def shape(self, shape):
         if self.pointer:
-            raise RuntimeError("Cannot set shape of parameter with type 'pointer'")
+            raise ParamTypeError("Cannot set shape of parameter with type 'pointer'")
         self._shape = shape
 
     @property
@@ -111,9 +115,7 @@ def value(self) -> Union[Tensor, None]:
     def value(self, value):
         # While active no value can be set
         if self.active:
-            raise RuntimeError(
-                f"Cannot set value of parameter {self.name}|{self._type} while active"
-            )
+            raise ActiveStateError(f"Cannot set value of parameter {self.name} while active")
 
         # unlink if pointer to avoid floating references
         if self.pointer:
@@ -140,6 +142,10 @@ def value(self, value):
             value = torch.as_tensor(value)
             self.shape = value.shape
             self._value = value
+            try:
+                self.valid = self._valid  # re-check valid range
+            except AttributeError:
+                pass
 
         self.update_graph()
 
@@ -185,22 +191,32 @@ def valid(self, valid: tuple[Union[Tensor, float, int, None]]):
         if valid is None:
             valid = (None, None)
 
-        assert isinstance(valid, tuple) and len(valid) == 2, "Valid must be a tuple of length 2"
+        if not isinstance(valid, tuple):
+            raise ParamConfigurationError("Valid must be a tuple")
+        if len(valid) != 2:
+            raise ParamConfigurationError("Valid must be a tuple of length 2")
 
         if valid == (None, None):
-            assert not self.cyclic, "Cannot set valid to None for cyclic parameter"
+            if self.cyclic:
+                raise ParamConfigurationError("Cannot set valid to None for cyclic parameter")
             self.to_valid = self._to_valid_base
             self.from_valid = self._from_valid_base
         elif valid[0] is None:
-            assert not self.cyclic, "Cannot set left valid to None for cyclic parameter"
+            if self.cyclic:
+                raise ParamConfigurationError("Cannot set left valid to None for cyclic parameter")
             self.to_valid = self._to_valid_rightvalid
             self.from_valid = self._from_valid_rightvalid
             valid = (None, torch.as_tensor(valid[1]))
+            if self.static and torch.any(self.value > valid[1]):
+                warn(InvalidValueWarning(self.name, self.value, valid))
         elif valid[1] is None:
-            assert not self.cyclic, "Cannot set right valid to None for cyclic parameter"
+            if self.cyclic:
+                raise ParamConfigurationError("Cannot set right valid to None for cyclic parameter")
             self.to_valid = self._to_valid_leftvalid
             self.from_valid = self._from_valid_leftvalid
             valid = (torch.as_tensor(valid[0]), None)
+            if self.static and torch.any(self.value < valid[0]):
+                warn(InvalidValueWarning(self.name, self.value, valid))
         else:
             if self.cyclic:
                 self.to_valid = self._to_valid_cyclic
@@ -209,12 +225,20 @@ def valid(self, valid: tuple[Union[Tensor, float, int, None]]):
                 self.to_valid = self._to_valid_fullvalid
                 self.from_valid = self._from_valid_fullvalid
             valid = (torch.as_tensor(valid[0]), torch.as_tensor(valid[1]))
+            if torch.any(valid[0] >= valid[1]):
+                raise ParamConfigurationError("Valid range (valid[1] - valid[0]) must be positive")
+            if (
+                self.static
+                and not self.cyclic
+                and (torch.any(self.value < valid[0]) or torch.any(self.value > valid[1]))
+            ):
+                warn(InvalidValueWarning(self.name, self.value, valid))
 
         self._valid = valid
 
     def _to_valid_base(self, value):
         if self.pointer:
-            raise ValueError("Cannot apply valid transformation to pointer parameter")
+            raise ParamTypeError("Cannot apply valid transformation to pointer parameter")
         return value
 
     def _to_valid_fullvalid(self, value):
@@ -235,7 +259,7 @@ def _to_valid_rightvalid(self, value):
 
     def _from_valid_base(self, value):
         if self.pointer:
-            raise ValueError("Cannot apply valid transformation to pointer parameter")
+            raise ParamTypeError("Cannot apply valid transformation to pointer parameter")
         return value
 
     def _from_valid_fullvalid(self, value):
@@ -257,3 +281,6 @@ def _from_valid_rightvalid(self, value):
         value = self._from_valid_base(value)
         value = (value + self.valid[1] - ((value - self.valid[1]) ** 2 + 4).sqrt()) / 2
         return value
+
+    def __repr__(self):
+        return self.name
diff --git a/src/caskade/warnings.py b/src/caskade/warnings.py
new file mode 100644
index 0000000..ac5c763
--- /dev/null
+++ b/src/caskade/warnings.py
@@ -0,0 +1,17 @@
+from textwrap import dedent
+
+
+class CaskadeWarning(Warning):
+    """Base warning for Caskade."""
+
+
+class InvalidValueWarning(CaskadeWarning):
+    """Warning for values which fall outside the valid range."""
+
+    def __init__(self, name, value, valid):
+        message = dedent(
+            f"""\        
+            Value {value.detach().cpu().tolist()} for parameter "{name}" is outside the valid range ({valid[0].detach().cpu().tolist() if valid[0] is not None else "-inf"}, {valid[1].detach().cpu().tolist() if valid[1] is not None else "inf"}).
+            Likely to cause errors or unexpected behavior!"""
+        )
+        super().__init__(message)
diff --git a/tests/test_base.py b/tests/test_base.py
index dcf1d29..36b27cd 100644
--- a/tests/test_base.py
+++ b/tests/test_base.py
@@ -1,4 +1,4 @@
-from caskade import Node, test
+from caskade import Node, test, GraphError, NodeConfigurationError
 
 import pytest
 
@@ -14,6 +14,12 @@ def test_creation():
     with pytest.raises(AttributeError):
         node.name = "newname"
 
+    with pytest.raises(NodeConfigurationError):
+        node2 = Node(1)
+
+    with pytest.raises(NodeConfigurationError):
+        node2 = Node("test|test")
+
 
 def test_link():
     node1 = Node("node1")
@@ -21,17 +27,17 @@ def test_link():
     node1.link("subnode", node2)
 
     # Already linked
-    with pytest.raises(ValueError):
+    with pytest.raises(GraphError):
         node1.link("subnode", node2)
 
     # Double link
-    with pytest.raises(ValueError):
+    with pytest.raises(GraphError):
         node1.link("subnode2", node2)
 
     # Make a cycle
     node3 = Node("node3")
     node2.link("subnode", node3)
-    with pytest.raises(ValueError):
+    with pytest.raises(GraphError):
         node3.link("subnode", node1)
 
     assert "subnode" in node1._children
diff --git a/tests/test_forward.py b/tests/test_forward.py
index 6997730..28ebfc4 100644
--- a/tests/test_forward.py
+++ b/tests/test_forward.py
@@ -1,6 +1,15 @@
 import torch
 
-from caskade import Module, Param, forward, ValidContext
+from caskade import (
+    Module,
+    Param,
+    forward,
+    ValidContext,
+    FillDynamicParamsSequenceError,
+    FillDynamicParamsMappingError,
+    FillDynamicParamsTensorError,
+    ParamConfigurationError,
+)
 
 import pytest
 
@@ -56,19 +65,19 @@ def __call__(self, d=None, e=None, live_c=None):
         assert valid_result.shape == (2, 2)
         assert torch.all(valid_result == result).item()
     # Wrong number of params, too few
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         result = main1.testfun(1.0, params=params[:3])
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         main1.to_valid(params[:3])
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         main1.from_valid(params[:3])
     # Wrong number of params, too many
     badparams = params + params + params
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         result = main1.testfun(1.0, params=badparams)
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         main1.to_valid(badparams)
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsSequenceError):
         main1.from_valid(badparams)
 
     # List by children
@@ -98,10 +107,10 @@ def __call__(self, d=None, e=None, live_c=None):
         assert valid_result.shape == (2, 2)
         assert torch.all(valid_result == result).item()
     # Wrong number of params, too few
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsTensorError):
         result = main1.testfun(1.0, params[:-3])
     # Wrong number of params, too many
-    with pytest.raises(AssertionError):
+    with pytest.raises(FillDynamicParamsTensorError):
         result = main1.testfun(1.0, torch.cat((params, params)))
 
     # Batched tensor as params
@@ -133,11 +142,11 @@ def __call__(self, d=None, e=None, live_c=None):
         assert torch.all(valid_result == result).item()
     # Wrong name for params
     params = {"q": torch.ones((2, 2)), "TestSubSim": torch.tensor((3.0, 4.0, 1.0))}
-    with pytest.raises(ValueError):
+    with pytest.raises(FillDynamicParamsMappingError):
         result = main1.testfun(1.0, params=params)
-    with pytest.raises(ValueError):
+    with pytest.raises(FillDynamicParamsMappingError):
         main1.to_valid(params)
-    with pytest.raises(ValueError):
+    with pytest.raises(FillDynamicParamsMappingError):
         main1.from_valid(params)
 
     # Dict as params, sub element is list
@@ -169,6 +178,13 @@ def __call__(self, d=None, e=None, live_c=None):
         valid_result = main1.testfun(1.0, params=main1.to_valid(params))
         assert valid_result.shape == (2, 2)
         assert torch.all(valid_result == result).item()
+    # Missing param
+    params = {
+        "b": torch.ones((2, 2)),
+        "TestSubSim": {"d": torch.tensor(3.0), "e": torch.tensor(4.0)},  # , "f": torch.tensor(1.0)
+    }
+    with pytest.raises(FillDynamicParamsMappingError):
+        result = main1.testfun(1.0, params=params)
 
     # All params static
     main1.b = torch.ones((2, 2))
@@ -181,23 +197,15 @@ def __call__(self, d=None, e=None, live_c=None):
     # dynamic with no shape
     main1.b = None
     main1.b.shape = None
-    with pytest.raises(ValueError):
+    with pytest.raises(ParamConfigurationError):
         main1.testfun(1.0, params=torch.ones(4))
     result = main1.testfun(1.0, params=[torch.ones((2, 2))])
     assert result.shape == (2, 2)
 
-    # wrong number of params
-    with pytest.raises(AssertionError):
-        main1.testfun(1.0, params=[torch.ones((2, 2)), torch.tensor(3.0)])
-
     # wrong parameter type
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         main1.testfun(1.0, params=None)
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         main1.to_valid(None)
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         main1.from_valid(None)
-
-    # param key doesn't exist
-    with pytest.raises(ValueError):
-        main1.testfun(1.0, params={"q": torch.ones((2, 2))})
diff --git a/tests/test_module.py b/tests/test_module.py
index fee6493..38bbeb2 100644
--- a/tests/test_module.py
+++ b/tests/test_module.py
@@ -1,4 +1,6 @@
-from caskade import Module, Param
+from caskade import Module, Param, ActiveStateError
+
+import pytest
 
 
 def test_module_creation():
@@ -13,6 +15,20 @@ def test_module_creation():
     assert m1.dynamic_params == (p1,)
     assert m2.dynamic_params == (p1,)
 
+    m3 = Module("test1")
+    assert m3.name == "test1_0"
+
+
+def test_module_methods():
+
+    m1 = Module("test1")
+
+    with pytest.raises(ActiveStateError):
+        m1.fill_params([1.0, 2.0, 3.0])
+
+    with pytest.raises(ActiveStateError):
+        m1.clear_params()
+
 
 def test_module_del():
     m1 = Module("deltest1")
diff --git a/tests/test_param.py b/tests/test_param.py
index cfed0ae..dd48bca 100644
--- a/tests/test_param.py
+++ b/tests/test_param.py
@@ -1,7 +1,13 @@
 import pytest
 import torch
 
-from caskade import Param
+from caskade import (
+    Param,
+    ActiveStateError,
+    ParamConfigurationError,
+    ParamTypeError,
+    InvalidValueWarning,
+)
 
 
 def test_param_creation():
@@ -19,37 +25,44 @@ def test_param_creation():
     p3 = Param("test", torch.ones((1, 2, 3)))
 
     # Cant update value when active
-    with pytest.raises(RuntimeError):
+    with pytest.raises(ActiveStateError):
         p3.active = True
         p3.value = 1.0
 
     # Missmatch value and shape
-    with pytest.raises(AssertionError):
+    with pytest.raises(ParamConfigurationError):
         p4 = Param("test", 1.0, shape=(1, 2, 3))
 
     # Cant set shape of pointer or function
     p5 = Param("test", p3)
-    with pytest.raises(RuntimeError):
+    with pytest.raises(ParamTypeError):
         p5.shape = (1, 2, 3)
-    with pytest.raises(ValueError):
+    with pytest.raises(ParamTypeError):
         p5.to_valid(1.0)
-    with pytest.raises(ValueError):
+    with pytest.raises(ParamTypeError):
         p5.from_valid(1.0)
 
     # Function parameter
     p6 = Param("test", lambda p: p["other"].value * 2)
     p6.link("other", p2)
-    with pytest.raises(RuntimeError):
+    with pytest.raises(ParamTypeError):
         p6.shape = (1, 2, 3)
 
     # Missing value and shape
-    with pytest.raises(ValueError):
+    with pytest.raises(ParamConfigurationError):
         p7 = Param("test", None, None)
 
     # Shape is not a tuple
-    with pytest.raises(ValueError):
+    with pytest.raises(ParamConfigurationError):
         p8 = Param("test", None, 7)
 
+    # Metadata
+    p9 = Param("test", 1.0, units="none", cyclic=True, valid=(0, 1))
+    assert p9.units == "none"
+    assert p9.cyclic
+    assert p9.valid[0].item() == 0
+    assert p9.valid[1].item() == 1
+
 
 def test_param_to():
     p = Param("test", 1.0, valid=(0, 2))
@@ -127,3 +140,25 @@ def test_valid():
     assert torch.all(
         p.from_valid(torch.linspace(-1e4, 1e4, 101)) <= 1
     ), "from_valid should map to valid range"
+
+    p.value = 0.5
+
+    with pytest.raises(ParamConfigurationError):
+        p.valid = None
+    with pytest.raises(ParamConfigurationError):
+        p.valid = (1, None)
+    with pytest.raises(ParamConfigurationError):
+        p.valid = (None, 1)
+    p.cyclic = False
+    with pytest.raises(ParamConfigurationError):
+        p.valid = (1, 0)
+    with pytest.raises(ParamConfigurationError):
+        p.valid = (0, 1, 2)
+    with pytest.raises(ParamConfigurationError):
+        p.valid = [0, 1]
+    with pytest.warns(InvalidValueWarning):
+        p.value = -1
+    with pytest.warns(InvalidValueWarning):
+        p.valid = (0, None)
+    with pytest.warns(InvalidValueWarning):
+        p.valid = (None, -2)