Sounds like you got into computers about the same time I did. My first programing experiance was with a Bendix computer (used on the F-15 and the first Space Shuttles) using the front panel. You know... toggle in the address in binary, toggle in the instruction in binary, hit load button, address increments, toggle in the next instruction/data..... and so on.
There is one jumper on the PMAC you might look at. Jumper E51 determins where the pmac loads the parameters from. And it differs in it's setting based on card version. The NON default setting is ON for the PMAC Lite. If it's in the non default setting then it loads the factory default parameter settings from ROM rather than the machine specific settings from EEPROM.
Ok, the utilities, take a look for a DOS executable named PS.EXE . Pretty intuitive and starts you up in a tutor mode. It should let you do all the damage you want to do May be in a sub folder /bin/baldor not sure.
You may have it pretty easy, I have to reprogram everything in mine because I'm using different motors than the robotic system it came out of.
PS my card has
on the PROM. And no battery on board.