Hi Liu,
Please look at the Application NoteZigBee 3.0 IoT Control Bridge.
"SDK_SDK_2.2_FRDM-KW41Z\docs\wireless\Zigbee\Application Notes\AN12063-MKW41Z-AN-ZigBee-3-0-ControlBridge.pdf".
Appendix A: Serial Protocol


Please let me know if you have issues with the commands.
Regards,
Mario