The paper presents a method to evaluate the effect of servo-error, quasi-static geometric error and dynamic geometric error on volumetric errors at the tool center point under high speed and high dynamic load. The interpolator output signals and the machine encoder signals are recorded and compared to evaluate the contouring errors resulting from each axis follow-up error. The machine encoder signals are also compared to the actual tool center point position as recorded with an in-house non-contact measuring instrument to evaluate the total geometric errors. A method is proposed to decompose the geometric errors in two categories: the quasi-static geometric errors independent from the speed and the dynamic geometric errors, dependent on the programmed feed rate and resulting from the machine structure deflection during the acceleration of its axes. The evolution of the respective contributions of contouring error, quasi-static geometric error and dynamic geometric error is evaluated and a relation between programmed feed rate and dynamic error is highlighted.