An array antenna for millimeter-wave communication and an array antenna for millimeter-wave sensing are designed and put together into one structure. Because millimeter-wave signals become weaker fast with the increasing distance and any kind of error in the required functions of the antenna has to be minimized, pointing error from the target direction should be prevented. The device is a millimeter-wave sensing antenna with high directivity to check the straight link between the TX and RX sides of wireless communication. A 24 GHz 8-by-16 array antenna which generates stronger signals for sensing resolves the drawback of a 28 GHz 1-by-4 array antenna that is commonly seen in 5G wireless terminals. The sensing and communication antennas are integrated as a planar structure mountable on platforms, which is investigated with regard to forming wireless links over a distance of several meters with an input power of less than 0 dBm. Additionally, in the event of a reflecting surface disturbing the straight path and worsening the pointing error in RF signal transfer, the dual-capability of the combination is presented on the basis of intuitive electromagnetic experiments.