In my experience, VoIP doesn't work well on anything more than about 180ms of latency. 580ms is way beyond the recommendations from Cisco. Most wireless technologies, especially satelite, introduce too much latency to work well for VoIP, which is why Cisco won't currently support them. They also suck for games. :-)
As far as bandwidth is concerned, as long as you use QoS and do your calculations correctly (to determine the number of concurrent phone calls), quality is great.
I indeed appreciate your experience sharing.. May I ask if the access routers connecting your 1750's need any special qos config? Are those commands also involve compression apart of BW reservation?
My existing config uses frame-relay dividing the serail into 2 PVC's(one for voice and the other for "intranet") by traffic shaping commands. I tried to dedicate the whole 128k BW for voice but still one of the conversation(only one voice call active) will die after a miniute or so. Therefore I am right in guessing there may be other issues around..
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