Not for any card I've ever owned. I've changed my PIN several times
over the years, and the bank has never re-encoded my card or sent me a
new card as a result of doing so.
Maybe some banks do store the PIN on the card, but I'm certain that it's
in the server for ever bank I've used.
I use a not-my-bank ATM in the lobby at work and it doesn't
initiate the call (you can hear the modem dial) until you're beyond the
PIN screen and are actually requesting a transaction.
I'm not surprised. But the PIN is verified as a part of the transaction.
I've occasionally mistyped my PIN. The ATM takes the mistake and goes
straight to the menu. It's only after requesting a transaction that it
comes back with the "invalid PIN" message.