Are there any programming commands for the U2741A USB Modular Digital Multimeter?

Yes, U2741A supports both SCPI command and IVI-driver for remote instrument control. You are required to install the Keysight Measurement Manager (AMM) software before you work on the programming control. If you are working on IVI-driver, you will need to install both AMM software and U2741A IVI-driver.You can find the AMM software and the IVI-driver in the Product Reference CD that is shipped together with the unit. Alternatively, find them from the products' Driver & Software page in this website.