The DFL-210 and DFL-800 have a reset button on the rear of device. Press the reset button, turn on the power and keep the button pressed for 20 seconds. Wait for the revert process to complete and the firewall to start.
The DFL-1600 and DFL-2500 have the LCM and keypad on front of device, you can press any key on the keypad when the "Press keypad to Enter Setup" message appears on the display during startup. Select "Reset firewall", confirm by selecting "yes" and wait for the revert process to complete.
All models can also be restored to factory default from the WebUI. Go to Tools->Reset. You can choose to reset only the configuration or the entire unit (configuration and firmware).