How to configure the beacon interval, the superframe duration and guaranteed time slots of 802.15.4 frame

Hi,
I am a student of University of Toulouse, ENSEEIHT in France and am doing a project on Lego NXT using 2 Xbee sensors from Dexter Industries.

My purpose is to find a way to configure the beacon interval, the superframe duration and guaranteed time slots of 802.15.4 frame.

I have read the datasheet already (2006) and have not found anything pertinent.

I do not have a Xbee adapter to use XCU on the PC.

I am using only NXC (with BricXCC) and C (with nxtOSEK) languages.

I know the first step is to enter the command mode of Xbee.
Then send a command that configures the parameters above.

How can I manage this?
Would you be so kind to help me?

Thank you in advance.

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