Why CPIN ERROR +CME ERROR: 10 (BG951A-GL)

When starting power on module result is +CPIN: READY,But when using AT+CPIN? result is +CME ERROR: 10

Send AT+CMEE=2 and then try AT+CPIN? again, it should report the error as text. But error 10 means SIM is not inserted, which is weird because you got ICCID. Try AT+QSIMSTAT?, the second number in the response is 0=removed, 1=inserted, 2=unknown (yet).
And you can check AT+QSIMDET?, just to make sure you don’t have SIM swap detection enabled - the first number in the response should be 0.

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Thank you so much for help, I did as you suggested and got the result +CPIN: READY.
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I have a question about the BG951 module used, I inserted the SIM, connected the antenna and set the frequency band. But why did I check the signal AT+CSQ and the result was +CSQ: 99,99? Did I miss any steps?

When the module is not connected it will report 99. You can check the signal strength only once connection is made. To connect for the first time it can take some time.

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Thank you so much.
Do you have a way to connect the module using AT commands?

The module will connect automatically, you can check AT command reference document for examples. It can take some time, depending on what technology (LTE-M or NB-IoT) you have available. I recommend limiting the bands scanned, it will shorten the connect time. Again, see documentation for details.

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Thank you so much.
I will try to follow the example in the document.