Yes, TouchScreenSetup for the RC5200/9200. Just need a computer with a serial port or a Serial to USB converter (see the FAQ).
I recommend the Philips NG model TSU7500 over the Marantz RC9500 though. The Philips NG units are programmed by ProntoEditProNG PPENG available on this site. The Marantz NG units are programmed by a software named wizz.it.