Parallel kinematic machine tool (PKM) is a new design concept and become a very popular research fields and attracts many previous researchers. The accuracy improvement of this machine tool is very important and essential for the applications of the machine tool into practical machining applications. Therefore, an error model analysis to understand the machining position error distribution for the PKM is focused in this research. A TRR-XY hybrid five DOF PKM is built for this research to investigate the error model and compensation theory. The manufacturing errors from the machining and assembly are defined based on the Siemen's PC-based controller. These errors are considered into the inverse kinematic solution. The effects of the manufacturing errors on the machining accuracy of the machine tool are discussed in this research.