CANopen transitions from PRE_OP to OP state.

Hi everyone,
 
I have a question for CANopen conformance experts.  
 
Is a node allowed to go NMT_OPERATIONAL on receipt of the system master's
heartbeat that shows the master is  NMT_OPERATIONAL or does it require a
specific NMT command, either global or to its specific ID, to make that
transition.
 
The Flow Diagram of the NMT states suggest the change to OPERATIONAL only
happens with the ID=0x000 message from the NMT Master and a GO_OPERATIONAL
(0x01) command.  That can be to a specific node (0x01..0x7F) or to all nodes
(0x00)
 
To pass conformance if the node times out on a missing heartbeat should it
drop back to PRE_OPERATIONAL and suspend PDO messages or just perform
whatever operation it requires and remain OPERATIONAL?
 
Thanks
John Dammeyer
 
 
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