Who is Welcome at the Table?

Much debate has addressed the use of the Eucharist as a stick to put pressure on politicians. There are even deeper questions. The Episcopal Church asks: “What is required of us when we come to the Eucharist?”
Its answer: “It is required that we should examine our lives, repent of our sins, and be in love and charity with all people.” http://www.episcopalchurch.org/visitors_11764_ENG_HTM.htm Jesus went further. At the Last Supper Judas received the Eucharist. In practice, my understanding is that all are welcome at the table in Episcopal churches. Is the regulatory approach of the Roman Catholic Church more consistent with scripture? Has the regulatory approach served pastoral needs better?