IS it posible to emulate firmware?
The first questions comes to mind - why you want to do it? I am sure that equipment was superseded by the new equipment which you can use with much less effort.


  Is it possible to emulate firmware?


Firmware is a piece of software, very closely tied to the platform it manages, thus firmware can not be emulated, it can be run. To have it running properly, some hardware should be emulated. And this is what @jonk is taking about in the comment to your question.

There're generally two ways -


making replica of hardware and make software/firmware run on it. In your case would it be simpler to find old motherboard which may have your memory and SCSI card installed, and connect the resulting PC device to your modern PC using network?
making software emulator, which requires a lot of knowledge about the hardware you are going to emulate.



  i only find emulators for Video Game consoles BIOS and ROM files


Because those machines are relatively easy to emulate, and making this emulation has specific purpose - to entertain people with old good games.

In your case emulation is going to be very difficult, and, probably, pointless (you are to decide); as I said it may be easier to construct device using real old hardware and run it.