title: Is there a formal way to zeroize in CANopen
body: <p>I have a system with multiple subsystems communicating with CANOpen. There is a main unit with a screen (for men-machine interface and stuff) and sub-units for minor operations(like sample button status, manage power, take measurements...).
  We defined a CANOpen based communication protocol for this system. Subsystems share their conditions periodically with TPDO messages and do stuff according to main unit's commands sent with RPDO messages. And also some NMTs are in use too.
  So I've been asked to add a new command to this protocol, zeroize. This command shall be sent broadcast and it shall cause everybody to delete softwares. What is the right way to do this?
  Maybe I can use a RPDO? Are we allowed to define new NMT commands in CANopen? Maybe I can do it with NMT but by using a new commandt hat is not in use already?
  Thanks in advance
  Ip.</p>