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   468          id="flowPara11039">A CanOpen must be able to take delayed actions.</flowPara><flowPara
       
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   470          id="flowPara11043"> As exemples, periodic sync emission, heartbeat production or SDO timeout need to set some alarms that will be called later and do the job.</flowPara><flowPara
       
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   472          id="flowPara11047">µC generaly do not have many anough free timers to handle all the CanOpen needs directly. Moreover, CanFestival internal data may be corrupt by reentrant calls. </flowPara><flowPara
       
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