With the rapid development of Industry 4.0, smart factories have become the current industrial trend where interferometers would be in charge of offline or online super-precision inspections. An interferometer, composed of a dual-frequency laser and six interference modules, capable of inspecting precision stages was proposed in this research. The interference modules retrieve six displacements, two along x-axis, three along y-axis, and one along z-axis of the examined stage, which are then used to figure out the stage's six-degree-of-freedom geometric errors. This paper introduces the interferometer in detail, it then presents the experimental results from the use of the interferometer. The results confirm the validity and applicability of the proposed interferometer.