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I have owned my Yamaha P140 for nearly two years now, and am still just as happy now as when I bought it.
On previous digital keyboards I had tried, the key weighting and response was nowhere near realistic enough to even compare to real pianos. The Yamaha however - whilst it isn't the same experience - offers real feedback when you push keys, and eases the transition of moving from a real piano to a digital keyboard. The accompanying pedal is also of a high quality, with 128 levels of touch feedback, and the pedal fluttering I've tried using it usually comes out great.
The mix of onboard sounds is standard, there isn't that many, but they are all of a good sampling quality and sound (I don't find myself using them much). The sound quality and speakers is excellent for a mid range digital keyboard, and with headphones it is a joy to play. The MIDI in/out ports are useful for recording compositions, which I have tried, and the delay lag rate is very low, which is great. Other features include an adjustable metronome, different environments for echos and sound - of which I'd say Stage comes out the best - and 50 prerecorded tracks, which you can play along to. One of the handy features about this I didn't notice for a while is you can play with the keyboard, by toggling the left/right side of the track on or off.
Overall this is the best keyboard I tried in its price range, and I'd recommend it to anyone in a heartbeat.