For what it's worth we just installed a VMI controller and the EMS PLC is in the same panel as the main control boards. It was a pretty seamless install as far as the door controller is concerned. Definitely a nice way to have both the door controller built in with the elevator controller. Made wiring nice, all TCs and multis just went to one panel.
I have some MCE 2000/Pelle (seperate panel with its own PLC) door controller. And I'll say the Pelle stuff is rock solid too. Very good equipment. I can't say I'd truly prefer one over the other. I will say the retiring cam and overall door operation seems more refined and smoother on the EMS doors. The cam on the Pelle doors is loud and Pelle uses a smooth sheave to drive the car gate chains, which have had issues with slipping and just spinning not moving the gate. EMS uses a sprocket.
