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We have a single access points that connect to a Cisco 3500XL switch. We have configured that port to carry 2 vlans.
switchport multi vlan 1,20,140
When we do this we can not ping the WAP. When we configure that port to only handle vlan 140 we can ping the WAP.
Yes, I'm pretty sure that should be working as long as routing is working properly. You'll probably need to go over your configs with a TAC engineer.
The Cisco APs haven´t worked with vlan yet, mobile ip can be a alternative for it. Take a look this page,
More responses please! I'm also interested in the ability to have multiple vlan access on a single AP.