I have the PQ1500s and I love it, but I don't use mine on a frame.
I would take a look at the differences between the two machines and decide what would work best for you. I think the Juki 2010 can be used without the foot pedal, which would probably come in handy on a frame. The PQ1500s does not work without the foot pedal, unless you buy an adaptor.
Also, check to see if the Grace sure stitch regulator will work with both machines. It may be that you will need to buy some kind of adaptor for one or the other of the machines to use with the stitch regulator, and that will add to the price of the machine.
Rob<object type="cosymantecnisbfw" cotype="cs" id="SILOBFWOBJECTID" style="width: 0px; height: 0px; display: block;"></object>