I am a big fan of the Vital systems stuff.
I would go with the DSPMC/ip for something that size that will need lots of I/O.
If the motors and drives are usable I would stay with them. A DC motor is rated for 2000 hrs between rebuilds as a general rule IIRC. If you are going to use it a lot, say 40 hours /week, then consider AC or brushless servos.
There are other options and I will let fans of them chime in.
Mike