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how to read serial arduino?

i have sonar sensor ez0 and i want to read from arduino  and this is his datasheet link http://www.maxbotix.com/documents/MB1000_Datasheet.pdf

i saw this tutorial how to connect to pc: http://www.maxbotix.com/articles/034.htm
but i need to connect it to arduino any one can help with that , i need to read serial reading of sonar
i need it for
https://www.instructables.com/answers/how-to-read-sonar-using-xbee