screen /dev/USB0 or /dev/ttyUSB0 (check dmesg when you plug your usb to ensure that)

The following commands will not be echoed - the easiest way is to prepare commands and copy paste to avoid typos. Others tools than screen exists but I found screen widely used in command platform.

ATZ should return OK

AT+CPIN? should return +CPIN: SIM PIN indicating SIM PIN is needed

AT+CPIN="xxxx" replace xxxx by your PINCODE. should return OK. you have access to the SIM

AT+CLCK="SC",0,"xxxx" replace xxxx by your PINCODE. disable pin code

The following keyboard sequence will exit screen: ctrl+a k y

Setting the pin to 0000 usually disable it. 

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