Danfoss MCA 121 Design guide

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MCA 121 EtherNet/IP Contents

Contents
1 Safety	3
Safety Note	3
Safety Regulations	3
Warning against Unintended Start	4
2 Introduction	5
About this Manual	5
Technical Overview	5
Assumptions	5
Hardware	5
Background Knowledge	5
Available Literature	6
ODVA Conformance	6
Abbreviations	6
3 How to Install	7
The EtherNet/IP Option	7
How to Install Option in Frequency Converter	8
LED Behaviour	9
Topology	10
Network	11
Recommended Design Rules	12
EMC Precautions	13
4 How to Configure	15
IP Settings	15
Ethernet Link Parameters	16
Configuring the Scanner	17
IP traffic	19
5 How to Control	21
How to Control	21
I/O Assembly Instances	21
EtherNet/IP Connections	22
Class 1 connection	22
Class 3 connection	23
Unconnected Messages, UCMM	23
Control Word Profile	23
Change of State, COS	24
Danfoss FC Control Profile	25
Danfoss FC Control Profile	25

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Contents	MCA 121 EtherNet/IP
Status Word according to FC ProfileDrive Profile (STW)	26
ODVA Control Profile	27
Control Word under Instances 20/70 and 21/71	27
Status Word under Instances 20/70 and 21/71	28
Reference Handling	29
Bus Speed Reference Value under Instances 100-101-103/150-151-153	29
Bus Speed Reference Value under Instances 20/70 and 21/71	30
6 Parameters	31
Parameter Group 8-**	31
Parameter Group 12-**	35
IP Settings	35
Ethernet Link Parameters	36
Process Data	37
EtherNet/IP	38
Other EtherNet Services	39
Advanced EtherNet Settings	40
Parameter List	42
Data Types	44
Data Types Supported by FC 200/FC 300	44
7 Troubleshooting	45
Step-by-step Troubleshooting	45
Alarm Word and Warning Word	45
8 Appendix	51
Supported CIP Objects	51
Index	59

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MCA 121 EtherNet/IP

1 Safety

1.1.1 Copyright, Limitation of Liability and Revision Rights

This publication contains information proprietary to Danfoss. By accepting and using this manual the user agrees that the information contained herein will be used solely for operating equipment from Danfoss or equipment from other vendors provided that such equipment is intended for communication with Danfoss equipment over an Ethernet serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.

Danfoss does not guarantee that a software program produced according to the guidelines provided in this manual will function properly in every physical, hardware or software environment.

Although Danfoss has tested and reviewed the documentation within this manual, Danfoss makes no warranty or representation, either express or implied, with respect to this documentation, including its quality, performance, or fitness for a particular purpose.

In no event shall Danfoss be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this manual, even if advised of the possibility of such damages. In particular, Danfoss is not responsible for any costs including but not limited to those incurred as a result of lost profits or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.

Danfoss reserves the right to revise this publication at any time and to make changes in its contents without prior notice or any obligation to notify previous users of such revisions or changes.

1.1.2 Safety Note

The voltage of the frequency converter is dangerous whenever connected to mains. Incorrect installation of the motor, frequency converter or fieldbus may cause damage to the equipment, serious personal injury or death. Consequently, the instructions in this manual, as well as national and local rules and safety regulations, must be complied with.

1.1.3 Safety Regulations

1.The frequency converter must be disconnected from mains if repair work is to be carried out. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

2.The [OFF] key on the LCP of the frequency converter does not disconnect the equipment from mains and is thus not to be used as a safety switch.

3.Correct protective earthing or grounding of the equipment must be established, the user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.

4.The earth leakage currents are higher than 3.5 mA.

5.Protection against motor overload is not included in the factory setting. If this function is desired, set par. to data value ETR trip or data value ETR warning.

NB!

The function is initialised at 1.16 x rated motor current and rated motor frequency. For the North American market; the ETR functions provide class 20 motor overload protection in accordance with NEC.

6.Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

7.Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when load sharing (linking of DC intermediate circuit) and external 24 V DC have been installed. Check that all voltage inputs have been disconnected and that the necessary time has passed before commencing repair work.

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1 Safety

MCA 121 EtherNet/IP

1	1.1.4 Warning against Unintended Start

1.The motor can be brought to a stop by means of digital commands, bus commands, references or a local stop, while the frequency converter is connected to mains. If personal safety considerations make it necessary to ensure that no unintended start occurs, these stop functions are not sufficient.

2.While parameters are being changed, the motor may start. Consequently, the [OFF] key must always be activated.

3.A motor that has been stopped may start if faults occur in the electronics of the frequency converter, or if a temporary overload or a fault in the supply mains or the motor connection ceases.

Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.

Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up.

Please take note of discharge times and further safety guidelines from the section: “Safety and conformity”, in the respective Design Guide (MG.33.Ax.yy).

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MCA 121 EtherNet/IP

2 Introduction

2.1.1 About this Manual

First time users can obtain the most essential information for quick installation and set-up in these chapters:

Introduction

How to Install

How to Configure the System

For more detailed information including the full range of set-up options and diagnosis tools please refer to the chapters:

How to Configure the System

How to Control the FC 200/FC 300

How to Access FC 200/FC 300 Parameters

Parameters

Troubleshooting

Terminology:

In this manual several terms for Ethernet is used.

-EtherNet/IP, is the term used to describe the CIP/ODVA application protocol.

-Ethernet, is a common term used to describe the physical layer of the network and does not relate to the application protocol.

2.1.2 Technical Overview

EtherNet/IP™ was introduced in 2001 and today is the most developed, proven and complete industrial Ethernet network solution available for manufacturing automation. EtherNet/IP is a member of a family of networks that implements the Common Industrial Protocol (CIP™) at its upper layers. CIP encompasses a comprehensive suite of messages and services for a variety of manufacturing automation applications, including control, safety, synchronization, motion, configuration and information. As a truly media-independent protocol that is supported by hundreds of vendors from around the world, CIP provides users with unified communication architecture throughout the manufacturing enterprise.

EtherNet/IP provides users with the network tools to deploy standard Ethernet technology for manufacturing applications while enabling Internet and enterprise connectivity.

2.1.3 Assumptions

These operating instructions are under the conditions that the Danfoss EtherNet/IP option is used in conjunction with a Danfoss FC 200/FC 300 frequency converter, inclusive that the installed controller supports the interfaces described in this document and that all the requirements stipulated in the controller, as well as the frequency converter, are strictly observed along with all limitations herein.

2.1.4 Hardware

This manual relates to the EtherNet/IP option MCA 121, type no. 130B1119 (un-coated) and 130B1219 (coated).

2.1.5 Background Knowledge

The Danfoss EtherNet/IP Option Card is designed to communicate with any system complying with the CIP EtherNet/IP standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufacturers, including commissioning tools, are beyond the scope of this manual, and are not the responsibility of Danfoss.

For information regarding commissioning tools, or communication to a non-Danfoss node, please consult the appropriate manuals.

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2 Introduction

MCA 121 EtherNet/IP

	2.1.6	Available Literature
	Available Literature for FC 200/FC 300
2	Available Literature for FC 200/FC 300
	-	The VLT AutomationDrive Operating Instructions provide the neccessary information for getting the drive up and running.
	-	The VLT AutomationDrive Design Guide entails all technical information about the drive design and applications including encoder, resolver and
	-	relay options.
		relay options.
		The VLT AutomationDrive Profibus Operating Instructions provide the information required for controlling, monitoring and programming the
		drive via a Profibus fieldbus.
	-	The VLT AutomationDrive Operating Instructions provide the information required for controlling, monitoring and programming the drive via a
		DeviceNet fieldbus.
	-	The VLT AutomationDrive MCT 10 Operating Instructions provide information for installation and use of the software on a PC.
	-	The VLT AutomationDrive IP21 / Type 1 Instruction provides information for installing the IP21 / Type 1 option.
	-	The VLT AutomationDrive 24 V DC Backup Instruction provides information for installing the 24 V DC Backup option.
	Danfoss Drives technical literature is also available online at www.danfoss.com/drives.

2.1.7 ODVA Conformance

The EtherNet/IP option is tested to conform to the ODVA standards, and is certified, towards conformance test level version 3.

2.1.8 Abbreviations

	Abbreviation	Definition

	API	Actual Packet Interval
	CC	Control Card

	CIP	Common Industrial Protocol
	CTW	Control Word

	DHCP	Dynamic Host Configuration Protocol
	EIP	EtherNet/IP

	EMC	Electromagnetic Compatibility
	I/O	Input/Output

	IP	Internet Protocol
	LCP	Local Control Panel

	LED	Light Emitting Diode
	LSB	Least Significant Bit

	MAR	Major Recoverable fail
	MAU	Major Unrecoverable fail

	MAV	Main Actual Value (actual output)
	MSB	Most Significant Bit

	MRV	Main Reference Value
	N/A	Not applicable

	ODVA	Open DeviceNet Vendor Association
	PC	Personal Computer

	PLC	Programmable Logic Controller
	PNU	Parameter Number

	REF	Reference (= MRV)
	RTC	Real Time Clock

	STP	Spanning tree Protocol
	STW	Status Word

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3 How to Install

3.1.1 The EtherNet/IP Option

. .

Illustration 3.1: Overview of the option

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3 How to Install

MCA 121 EtherNet/IP

3.1.2 How to Install Option in Frequency Converter

Items required for installing a fieldbus option in the frequency converter:

-The fieldbus option

-Fieldbus option adaptor frame for the FC 200/FC 300. This frame is deeper than the standard frame, to allow space for the fieldbus option beneath

-Strain relief (only for A1 and A2 enclosures)

Instructions:

-Remove LCP panel from the FC 200/FC 300.

-Remove the frame located beneath and discard it.

-Push the option into place. The Ethernet connectors must be facing upwards.

-Remove both knock-outs on the fieldbus option adaptor frame.

-Push the fieldbus option adaptor frame for the FC 200/FC 300 into place.

-Replace the LCP and attach cable

NB!

Do not strip the Ethernet cable and ground it via the strain relief-plate! The grounding of screened Ethernet cable is done through the RJ-45 connector on the option.

NB!

After installing the MCA 121 option, be aware of the following parameter settings: par. 8-01 Control Site: [2] Controlword only or [0] Digital and ctrl. word

par.8-02 Control Word Source: [3] Option A

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3 How to Install

3.1.3 LED Behaviour

The option has 3 bi-coloured LEDs according to ODVA specifications:

LED Label	Description

MS	Module Status
NS1	Network Status Ethernet Port 1	3

NS2	Network Status Ethernet Port 2
NS2	Network Status Ethernet Port 2

The option LED’s operates according to ODVA specifications.

State

LED

Description

No power

Off

The device is un-powered

Device operational

Green:

Solid green

The device is operational

Standby

Green:

Flashing green

The device needs commissioning

Minor fault

Red:

Flashing red

The device has detected a recoverable fault

Major fault

Red:

Solid red

The device has detected an un-recoverable fault

Self test

Red:

Flashing red/

The EIP option is in self-test mode

Green:

green

Table 3.1: MS: Module Status

State

LED

Description

No IP-address (no power)

Off

The device does not have a valid IP-address (or

is un-powered)

No connections

Green:

Flashing green

There are no established CIP connections to the

device

Connected

Green:

Solid green

There is established (at least) one CIP connec-

tion to the device

Connection time-out

Red:

Flashing red

One or more CIP connections have timed-out

Duplicate IP

Red:

Solid red

The IP-address assigned to the device is already

in use

Self test

Red:

Flashing red/green

The EIP option is in self-test mode

Green

Table 3.2: NS1 + NS2: Network Status (one per port)

During normal operation the MS and at least one NS LED will show a constant green light.

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3 How to Install

MCA 121 EtherNet/IP

3.1.4 Topology

The MCA 121 features a build-in Ethernet-switch, thus having two Ethernet RJ-45 connectors. This enables the possibility for connecting several EtherNet/ IP options in a line topology as an alternative to the typical star-topology.

The two ports are equal, in the sense that they are transparent for the option. If only one connector is used, either port can be used.

Illustration 3.2: Star topology

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT	VLT
AutomationDrive	AutomationDrive

130BA903.10

VLT

AutomationDrive

Illustration 3.3: Line topology

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

130BA904.10

NB!

For line topology please refer to section: “Recommended design rules” In a line topology all drives must be powered, either by mains or by their 24 V DC option cards, for the build-in switch to work.

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3 How to Install

NB!

Please observe that mounting drives of different power-sizes in a line topology may result in unwanted power-off behaviour.

Smaller drives discharge faster than bigger drives. This can result in loss of link in the line topology, which may lead to control word timeout.

To avoid this, mount the drives with the longest discharge time first in the line topology.

VLT	VLT	VLT
AutomationDrive	AutomationDrive	AutomationDrive

Illustration 3.4: Ring/redundant line topology

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

130BA905.10

NB!

For this type of topology it is crucial that the network switch supports Spanning Tree Protocol (STP) or Rapid Spacing Tree (RSTP), and that STP is enabled. For more information on Spanning Tree please refer to section IP traffic.

3.1.5 Network

It is of high importance that the media chosen for Ethernet data transmission are suitable. Usually CAT 5e and 6 cables are recommended for industrial applications. Both types of cable are available as Unshielded Twisted Pair and Shielded Twisted Pair. Generally shielded cables are recommended for use in industrial environments and with frequency converters.

A maximum cable-length of 100 m is allowed between switches.

Optical fibres can be used for gapping longer distances and providing galvanic isolation.

For connecting EtherNet/IP devices both hubs and switches can be used. It is, however, recommended always to use suitable industrial graded Ethernet switches. For more information regarding IP-switching, please refer to section: IP Traffic in this manual.

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3 How to Install

MCA 121 EtherNet/IP

3.1.6 Recommended Design Rules

While designing Ethernet networks special attention and caution must be taken regarding active network components.

While designing a network for line topology it is important to notice that a small delay is added with each every switch in the line.

It is not recommended to connect more than 32 drives in a line at any API. Exceeding the recommended design rules, may result in failing communication.

VLT	VLT	VLT	VLT	VLT	VLT
AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive

Max. 32 drives

VLT	VLT	VLT	VLT	VLT	VLT
AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive	AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

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3 How to Install

3.1.7 EMC Precautions

The following EMC precautions are recommended in order to achieve interference-free operation of the Ethernet network. Additional EMC information is available in the FC 200/FC 300 series Design Guide.

NB!

Relevant national and local regulations, for example regarding protective earth connection, must be observed.

The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise from one cable to the other. Normally a distance of 200 mm (8 inches) is sufficient, but maintaining the greatest possible distance between the cables is recommended, especially where cables run in parallel over long distances. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90 degrees.

VLT

A utomationDrive

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4 How to Configure

MCA 121 EtherNet/IP

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4 How to Configure

4.1.1 IP Settings

All IP-related parameters are located in parameter group 12-0*:

12-00	IP Address Assignment

12-01	IP Address
12-02	Subnet Mask	4

12-03	Default Gateway
12-03	Default Gateway
12-04	DHCP Server

12-05	Lease Expires
12-06	Name Servers

12-07	Domain Name
12-08	Host Name

12-09	Physical Address

The MCA 121 option offers several ways of IP address assignment.

Setting up drive with manual assigned IP address:

Par.	Name	Value

12-00	IP Address Assignment	[0] MANUAL
12-01	IP Address	192.168.0.xxx*

12-02	Subnet Mask	255.255.255.0*
12-03	Default Gateway	optional

*= Class C IP address example. Any valid IP address can be entered.

NB!

A power-cycle is necessary after setting the IP parameters manually.

Setting up drive with automatic (BOOTP/DHCP) assigned IP address:

Par.	Name	Value

12-00	IP Address Assignment	[1] DHCP/[2] BOOTP
12-01	IP Address	Read only

12-02	Subnet Mask	Read only
12-03	Default Gateway	Read only

By IP address assigned by DHCP/BOOTP server, the assigned IP Address and Subnet Mask can be read out in par. 12-01 and 12-02. In par. 12-04 DHCP Server, the IP address of the found DHCP or BOOTP server is displayed. For DHCP only: The remaining lease-time can be read-out in par. 12-05 Lease Expires.

Par. 12-09, Physical Address reads out the MAC address of option, which is also printed on the label of the option. If using fixed leases together with DHCP or BOOTP, the physical MAC address is linked with a fixed IP address.

NB!

If no DHCP or BOOTP reply has been received after 4 attempts (e.g. if the DHCP/BOOTP server has been powered off), the option will fallback to the last good known IP address.

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Par. 12-03, Default Gateway is optional and only used in routed networks.

Par. 12-06, Name Servers

Par. 12-07, Domain Name Par. 12-08, Host Name

Are used with Domain Name Server systems and are all optional. If DHCP or BOOTP is selected as IP address assignment, these parameters are read only.

		NB!
4		It is only possible to assign valid class A, B and C IP address to the option. The valid ranges are shown in the below table:
4

	Class A	1.0.0.1 - 126.255.255.254

	Class B	128.1.0.1 - 191.255.255.254
	Class C	192.0.1.1 - 223.255.254.254

4.1.2 Ethernet Link Parameters

Parameter group 12-1* holds information Ethernet Link information:

	12-10	Link Status

	12-11	Link Duration
	12-12	Auto Negotiation

	12-13	Link Speed
	12-14	Link Duplex

Please note the Ethernet Link Parameters are unique per port.

Par. 12-10, Link Status and par. 12-11, Link Duration displays information on the link status, per port.

Par. 12-10, Link Status will display Link or No Link according to the status of the present port.

Par. 12-11, Link Duration will display the duration of the link on the present port. If the link is broken the counter will be reset.

Par. 12-12, Auto Negotiation – is a feature that enables two connected Ethernet devices to choose common transmission parameters, such as speed and duplex mode. In this process, the connected devices first share their capabilities as for these parameters and then choose the fastest transmission mode they both support.

By default this function is enabled.

Incapability between the connected devices, may lead to decreased communication performance. To prevent this, Auto Negotiation can be disabled.

If par. 12-12 is set to OFF, link speed and duplex mode can be configured manually in par. 12-13 and 12-14.

Par. 12-13, Link Speed – displays/sets the link speed per port. “None” is displayed if no link is present.

Par. 12-14, Link Duplex – displays/sets the duplex mode per port.

Half-duplex provides communication in both directions, but only in one direction at a time (not simultaneously).

Full-duplex allows communication in both directions, and unlike half-duplex, allows for this to happen simultaneously.

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4.1.3 Configuring the Scanner

EDS file

Danfoss provides a generic English EDS (Electronic Data Sheet) file covering all voltage and power sizes, for off-line configuration.

The EDS file can be downloaded from:

http://www.danfoss.com/BusinessAreas/DrivesSolutions/Softwaredownload/DDFieldbus_Setup_Files.htm

NB!
The current version of the major EtherNet/IP configuration tools does not support EDS-files for EtherNet/IP devices.

		4
Configuring a Rockwell Master		4
For configuring a FC 200/FC 300 with MCA121 for operation with a Rockwell (Allen-Bradley) Scanner via EtherNet/IP, the FC 200/FC 300 must be added

as a Generic Ethernet Module.
Under the General-tab, enter information about: Name of device, IP Address, Assembly Instance and Data size

NB!

Under Configuration in the Connection Parameters a “4” must be entered as Assembly Instance.

NB!

Please note that the example shows a 20/70 assembly instance connection. This requires par. 8-10 Control Profile to be set to: ODVA. Other supported connections are shown in section: I/O Assembly Instanced.

Under the Connection-tab, enter information about: RII and fault conditions.

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The Module Info – This tap holds generic information.

The Reset Module – This button will make a simulated Power-cycle of the drive.

NB!

For more information on the CIP class 1 Forward Open command, please refer to section: EtherNet/IP Connections under the How to Control -chapter.

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4 How to Configure

	4.1.4 IP traffic
	The use of Ethernet based network for industrial automation purposes, calls for careful and thorough network design. Especially the use of active network
	components like switches and routers requires detailed know-how about the behaviour of IP traffic.
	Some important issues:
	Multicast
	Multicast traffic; is traffic that is addressed to a number of recipients. Each host processes the received multicast packet to determine if it is the target
	for the packet. If not, the IP package is discarded. This causes an excessive network load of each node in the network since they are flooded with multicast
	packages. The nature of EtherNet/IP traffic is that all Originator-to-Target traffic is Unicast (point-to-point) but Target-to-Originator traffic is optional	4
	Multicast. This enables that several listen only -connections can be made to a single host.	4

	In switched networks hosts also have the risk of becoming flooded with multicast traffic. A switch usually forwards traffic by MAC address tables build by

	looking into the source address field of all the frames it receives.
	A multicast MAC address is never used as a source address for a packet. Such addresses do not appear in the MAC address table, and the switch has no
	method for learning them, so it will just forward all multicast traffic to all connected hosts.
	IGMP
	IGMP (Internet Group Management Protocol) is an integrated part of IP. It allows hosts to join or leave a multicast host group. Group membership
	information is exchanged between a specific host and the nearest multicast router.
	For EtherNet/IP networks it is essential that the switches used, supports IGMP Snooping. IGMP Snooping enables the switch to “listen in" on the IGMP
	conversation between hosts and routers. By doing this the switch will recognise which hosts are members of which groups, thus being able to forward
	multicast traffic only to the appropriate hosts.
	Spanning Tree Protocol (STP)
	For an Ethernet network to function properly, only one active path can exist between two nodes. Spanning-Tree Protocol is a link management protocol
	that provides path redundancy while preventing undesirable loops in the network.
	When loops occur, some switches see stations appear on both sides of it self. This condition confuses the forwarding algorithm and allows for duplicate
	frames to be forwarded.
	To provide path redundancy, Spanning-Tree Protocol defines a tree that spans all switches in an extended network. Spanning-Tree Protocol forces certain
	redundant data paths into a standby (blocked) state. If one network segment in the Spanning-Tree Protocol becomes unreachable, or if Spanning-Tree
	Protocol costs change, the spanning-tree algorithm reconfigures the spanning-tree topology and re-establishes the link by activating the standby path.
	Spanning-Tree Protocol operation is necessary if the FC 200/FC 300’s are running in a ring/redundant line topology.

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