If you are replacing a failed card with the exact replacement part number no programming is required. The terminal strip is plugable so the wires do not have to be removed from the terminals. Be aware there is no locator guide so be sure to plug it in on the replacement board carefully.
Changing a card type in a position or adding a new card position does require programming.
Cards are not hot swap. The system must be powered down, battery and AC, before working on it.