  Many experimental efforts are striving to provide deep maps of the cosmic
microwave background (CMB) to shed light on key questions in modern cosmology.
The primary science goal for some of these experiments is to further constrain
the energy scale of cosmic inflation. It has been shown that these experiments
are particularly sensitive to optical systematics. Near-field vector beam
mapping, or holography, is now employed in a variety of CMB-focused
experimental efforts due to the technique's ability to provide full details of
electromagnetic field propagation through complex systems. In this proceeding,
we describe the development of a measurement bench for millimeter-wave
phase-sensitive beam mapping with the goal of characterizing optical components
for CMB experiments. We discuss the testing of a beam scanner based on a 6-axis
robot arm, the related custom control software, the readout architecture, and
the overall validation of the system through various testing procedures.
Dynamic range of 70 dB is demonstrated for the presented setup. With the
current mechanical setup, we derive an upper limits of 45 $\mu$m on the
absolute positioning error and 10 $\mu$m on positional repeatability.
