how many 7-seg display we are talking about? one for each door? how many digits per display? how many plc outputs you have? how far are the displays from plc?
you can use plc outputs to drive the naked 7-segment displays directly but you will need one output for each segment. the segments are just LEDs which are current driven. for example to use 24V PNP output, you can use any common cathode unit and just limit current with resistor.
since 2-3V drop is expected at 10mA (604-SC56-21GWA for example), you would only need 2.2k resistors, 1/4W or higher.
if using NPN, go for common anode displays.
http://www.mouser.com/catalog/catalogusd/638/81.pdf
but this is only practical for very few digits. if you need to drive more of them, you need better solution like multiplexing (still lot's of wiring).
for example using single 32 point output card you could drive 4 digits.
adding one more card (but opposite polarity) with say 16 outputs, you can multiply number of digits by 16 (16x4digit=64 digit).
that is only two very common cards although in this casde they have to be opposite polarity (one PNP, other NPN).
no additional resistors are needed for multiplexing but since each segment now only operates for a fraction of time, brightness will go down.
the workaround is to increase current by lowering resistors value (don't go crazy on this one or you will blow bunch of displays, I'd say stay within 20-25mA).