Potter,
There are advantages and disadvantages to both. Which is best...it depends on your requirements.
If we are talking specifically for PLCs...
Relay Outputs typically can handle a larger load and either AC or DC signals. Most PLCs are typically 2 amp relays. A typical transistor output is .5 amps. Unless your running lights or other low current devices, you will require an interposing device, be it solid state relay or mechanical relay.
The greatest advantages of a transistor output are speed and life cycle. They can turn on in 1 ms or less and with no armiture or moving parts, will last much longer than a relay.
Keep in mind that whether relay or transistor, life cycle will depend on the amount of current required to turn on the output device. The higher the current, the shorter the life cycle and vise versa.
I have never really understood people that purchase a transistor output PLC and interpose mechanical relays for a higher load. The only advantage is triggering the interposing relay 10ms faster than with a PLC relay output.
Here is an article I ran across when researching this post -
http://www.kpsec.freeuk.com/trancirc.htm#npn It should give you some additional insight.
When Bob mentioned transistors staying on (sometimes), he is refering to the leakage current they generate. This is typically in the microamps.
The 32 transistor output cards only advantage is the number of outputs you can interface on one card. Typical ratings for this configuration are 100 mA...good for driving lights, relays and very small devices...not much else. Not the best option for industrial devices, because you are adding additional components and cost to the product / application.
It is amazing how many PLC manufacturers offer products with less than adequate output ratings, given the many uses for PLCs. Even with a 2 amp relay output, many applications still require interposing relays. You would think that they would take this into account when designing their products.
Hope this information helps you with what you are looking to do.
God Bless,