You can use one of two ways in unix/linux:

1. create a new bim file and replace your bim file with the new one

awk -F "_" '{print $1,$2,$3,$4}' your_bim_file.bim | awk -F " " '{print $1,$2,$6,$7,$8,$9}' > new_rs_bim_file.bim 

1. create plink --update-name file with two columns like "rs569167217_60684_A_C rs569167217"

awk -F "_" '{print $1,$2,$3,$4}' test.txt | awk -F " " '{print $2,$2 "_" $3 "_" $4 "_" $5}' > update_name.txt

then use plink to update short rs names:

plink --bfile our_plink_file --update-name update_name.txt --make-bed --out new plink_file