The　accuracy　of　five-axis　hybrid　machining　equipment　is　one　of　the　key　indicators　for　evaluating　its　performance,　and　error　modeling　is　a　prerequisite　for　achieving　accuracy　synthesis　and　kinematic　calibration.　However,　the　current　error　modeling　methods　mainly　focus　on　the　parallel　spindle　head,　while　neglecting　error　sources　arising　from　the　series　modules.　Using　such　an　incomplete　error　model　for　accuracy　synthesis　and　kinematic　calibration　can　result　in　suboptimal　accuracy　performance　of　the　entire　machine.　This　study　focuses　on　a　2UPR&2RPS-XY　type　five-axis　hybrid　machine　tool,　considers　the　error　influence　of　the　serial　sliding　gantry　module,　and　proposes　a　comprehensive　error　modeling　method.　Firstly,　the　error　models　for　the　fixed　base-tool　(2UPR&2RPS　parallel　spindle　head)　and　fixed　base-workpiece　(X–Y　sliding　gantry　module)　are　established　using　screw　theory.　Secondly,　based　on　the　structural　characteristics　of　the　machine　tool,　an　integrated　error　model　is　developed.　Next,　360　trajectory　points　are　selected　from　a　circular　path　and　substituted　into　the　established　error　model　to　obtain　the　roundness　error　of　the　five-axis　hybrid　machine　tool　under　this　trajectory.　Finally,　experimental　validation　of　the　proposed　integrated　error　modeling　method　is　conducted　using　a　double　ball　bar.　©　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.　2024.