Experience With Integrating Plcs (Programmable Logic Controllers) Into VMS Or ACS

I'm wondering if any of you have experience integrating this kind of equipment into VMS or ACS (Access Control System).

We would like to receive alarms from the PLC in the VMS or ACS, see gate status and send commands to them. We have other logic in the PLCs, so moving to hardwired inputs/outputs of the ACS is not an option.

I'm investigating the use of OPC and Modbus for communication. I saw something in Milestone site for modbus, but I don't know the level of integration for that solution.

Any thoughts? I would be interested in your experience with any VMS or ACS vendor. I'm just trying to understand what options we have for this type of integration.

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