How to use coordinator to set end device?

I have a program that is in a peer-to-peer mode,
i already know the end device’s NI(node identifier) is “002”.
Use the xb_getND() command,i can get the message is
“MY: 0 SH: 13A200 SL: 4000BDBD DB: 3E NI: 002”.
And i use the xb_getIS command the return information is
samples(0001) channel Indicator(1017) active I/Os(0000) ADC3(0163)

Now how can i set the “002” to the destination node and control it.
For example i want to set pin-20 on node-“002” to high.
How can i do that?

Thanks for your reply.