Accurate rotor position is crucial for field-oriented control (FOC) of permanent magnet synchronous motors. To begin with, this paper analyzes the effect of the resolver static eccentricity on the sine/cosine winding output voltage using winding function method. And the error of the decoding position signal caused by sine/cosine voltage error is also deduced. It is found that resolver static eccentricity will bring a double rotating frequency position error. Then, the effect of the rotor position error on the motor current and radial electromagnetic force is deduced under FOC. Comparative analysis shows that position error will worsen motor vibration, and experiment proved the accuracy of theoretical analysis.