First of all, your skillet is definitely way too hot if you are burning pancakes before you flip them. You really don't need any heat at all to cook a pancake -- they want to cook pretty badly.

400 degrees sounds like it is much, much too high.

So start with your skillet on medium-low, then slowly turn the heat up if you feel like it is taking too long. Find a temperature that gives you enough time to make all the pancakes you want without being rushed, but isn't so slow that you are waiting around forever to flip the 'cakes.

What you're looking for is holes in the pancake. They start out as bubbles, and then the bubbles pop. When the bubbles are popping and they start leaving clear, stable holes through the pancake, flip the 'cake. Then just cook it on the other side until you like the color. Don't be afraid to flip back and forth until you're comfortable -- you aren't expected to know what color the underside of the pancake is through psychic means, but you'll develop a sense for how long they should be cooked over time.

In general, my pancakes come out a little more brown than I'd like, but definitely fully cooked and delicious.

Good luck!