Are angels infallible, and if they err, are they punished? Do the angels on the right and left remain with a person throughout their life, or do they change? What is the best reference for inquiring about angels?

Angels were created for the worship and obedience of Allah, and they are infallible. The angels on the right and left are the guardian angels entrusted with recording the deeds of the children of Adam. They alternate in attendance upon a person day and night, gathering at the times of the Fajr and Asr prayers, and they record the deeds. The angels of the night are different from the angels of the day, and these angels are the guardians.