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setup time is the time for which the data must be stable at the D input before the clock edge; hold time is the time for which data must be stable AFTER the clock edge.
Setup is equivalent to the time needed to write a new data in the master latch before clock signal. If you violate the setup time, the previous data will remain in the Master latch.
Hold time is the time needed to avoid a new data to be written in the slave after clock signal. If you violate the hold time, the new data will be captured and transmitted by the flip-flop, instead of the stored one.
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