Can I change the Xbee PRO S2 module Functionality mode, Pan id without using XCTU Software?

Here Xbee Pro S2 is interfaced with the MCU and i dont want to remove zigbee from the controller board, i want to set the zigbee in API mode and pan id through the commands sending from the MCU.

If the local XBee modules that is connected to the MCU is in API mode, then you could issue remote AT commands from that node to any other node within the network. Thus modifying the remote modules settings such as the PAN ID.