We have developed a gaseous Time Projection Chamber (TPC) containing a single-layered foil of a gas electron multiplier (GEM) to open up a new window on cosmic X-ray polarimetry in the 2–10 keV band. The micro-pattern TPC polarimeter in combination with the Scalable Readout System produced by the RD51 collaboration has been built as an engineering model to optimize detector parameters and improve polarimeter sensitivity. The polarimeter was characterized with unpolarized X-rays from an X-ray generator in a laboratory and polarized X-rays on the BL32B2 beamline at the SPring-8 synchrotron radiation facility. Preliminary results show that the polarimeter has a comparable modulation factor to a prototype of the flight one.