This paper presents the design and architecture implementation of a digital position control IC for permanent magnet synchronous motors (PMSMs) with sinusoidal flux distribution using linear Hall sensors for low-cost motion control applications. The absolute rotor position is calculated from the measured Hall sensor signals and a speed estimator is devised to generate speed feedback for the servo loop compensator. The developed digital servo control IC for PMSM motors with linear Hall sensors consists of three major control blocks: a servo loop controller, a position and speed estimator, and a field-oriented torque controller. The accuracy of positioning control resolution can be improved by a position error compensation table via external position calibration. All the control blocks are realized by using digital circuitry with configurable and reusable intellecture property (IP) blocks. Experiment results are presented to verify the performance and feasibility of the proposed IC.