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could you please try with latest 6.1.CR1 version where there was improved handling of boundary events for errors. Though you'll get exception instance and the you would need to use scripts to get string value (the message) out of it. We plan to add transformations for it soon but still it's not there fully supported.
I tried in the 6.1 CR1 was able to received the error that was raised form the WorkItme handler to script task and was able to display it in the log.
Thanks for the help