IMHO, Tyros 2,3, and 4 has got far better (more responsive) semi weighted synth key action compared to PSR3000. As much as I appreciate the high quality sound of Yamaha's mid range arrangers (PSR3000, S910, etc), I find the key action spongy and rather sluggish, especially when I want to play quick passages & runs.

That said, coming from being an acoustic pianist, no portable arranger keyboard approaches the feel of a fully weighted hammer action of an acoustic grand, but for arranger keyboard, I prefer the semi weighted responsive action of the Tyros 2,3, and 4, especially for emulating a full range of instrument sounds.

With the advent of super articulation voices, Yamaha has further improved the Tyros keyboard action which gives us the ability to better play & control key velocity pressure to activate the up to 7 levels of different sound variation of a single Super Articulation instrument's note. Hope this answers your question. - Scott