AB has some good and bad points. It is going to be OK for most applications (very shaky on high speed) and is stable. I'm bias towards the japs (like them best) (Omron, Yaskawa, etc). I've been working with Siemens the last 7 years (some exceptions) and I think they should pay (along with Microsoft and Intel for their unstable systems) for any psychiatric help I might need in the future.