AC servo motor mechanism is the key components on machine tools, manipulators, automation machines, etc. This paper describes in detail the development and experimentation of a PMSM servo motor driver for CNC machines using TMS320F28379D microcontroller. The PMSM servo driver is controlled based on field-oriented control (FOC) method combined with closed-loop PID controllers for regulating the flux- and torque-producing currents, velocity, and position. The main target in the servo driver is fast, accurate, small fluctuations, and no overshoot in both position and velocity. To achieve that, a trapezoidal motion profile is used. A PC-based software that communicates with the PMSM servo driver and allows easy control and monitoring of the developed PMSM servo driver is designed. Many useful features are developed in the software such as home setting, jog running, and position running. The scaling factor, acceleration, and deceleration setting are also integrated in the software. In addition, the driver also supports Pulse/Dir Run mode required by CNC controller. The experiment was carried out with a PMSM 4 Kw driving a single-axis sliding lead screw of a CNC machine. The experimental results demonstrate the effectiveness of the proposed system.