<p>This is my first Dynamixel purchase, and I've been mostly happy so far. I've used the opencm board to communicate, and I've also used a bare microcontroller with TTY, and while getting it set up on the microcontroller took longer than expected, I can't really fault the product since the opencm board was up and running in minutes. The motor has a decent amount of torque (although I haven't seen a torque number quoted in the specs, it seems on par with the AX-12, which is quoted at 1.5N.m), and being able to tune the PID gains is a nice bonus.</p><p>I also took one apart, because I was doing a bit of a case mod, and everything on the inside seems well put together and well made.</p>