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LP-CC2651R3SIPA: AT Commands

Part Number: LP-CC2651R3SIPA

Good morning community,
I am asking about AT command for board CC2651R3SPIA, 
How can I connect beacon and non-beacon device by using AT command?
I have one Bluetooth MCU and one beacon device, I want to receive data from beacon to BMCU.
So, how can i configure both device by using AT command?