Self-detection of the frequency difference between the two counter propagating oscillation frequencies in a mechanically rotated semiconductor ring laser (SRL) was successfully demonstrated. An SRL used for experiments consisted of a pig-tailed laser diode amplifier module. Detection characteristics of an SRL as an optical gyroscope were investigated and discussed. Beat frequency, which was detected by the terminal voltage change of an SRL without branching the circulating optical power, was measured as a function of the rotation rate, changing the loop radius for investigating the loop radius dependence on the detection sensitivity. The measured detection sensitivity characteristics coincided well with the theoretical prediction based on the Sagnac effect, and it was found that SRLs could be operated as optical gyroscopes. Furthermore, we verified that lock-in phenomenon was one of the most dominant noise sources in the S-RLG.