I've had a Yamaha P200 for about 12 years now and have been very pleased with it. It is a stage piano with built in (and quite powerful) speakers. I like having the built-in speakers as I have often played in contexts where you are over-reliant on the PA to give you any foldback at all.
I like the main piano sound itself which is quite bright, although there is a more mellow piano 2 if you prefer. It features an easily accessible three band EQ, allowing quick tweaking of sounds and helping you to cut through the mix better if you are playing with loud guitarists. Other sounds include a few electric pianos, one of which I really like, and some organs, again one of which I found useful. I was hoping for some nice pads, but there is just a strings patch, which is very expressive, but sounds a bit too syruppy when layered on top of piano.
It's good for use as a master MIDI keyboard and has a good graded hammer action. It features auxilliary inputs which are very useful in a live context, although they bypass the master volume fader so you need to make sure they are not too hot. It is also very heavy, and barely fit inside the largest gig bag I could find for it.
As for durability, it has survived much transportation and abuse from children lasting over 10 years before anything broke (except the music stand which broke fairly early on, but I don't use it). We've had one key broken, which I initially fixed with super-glue, but it has broken again, so will probably have to get a replacement. Also the sustain jack socket has become unreliable and probably needs to be re-soldered internally.