When you run a form, you principally navigate by way of items and blocks, not by canvases. Each item has a sequenced position within its block, and each block has a sequenced position in the form.
When a user requests to move to the next item in a block, focus will be set on the next item in sequence, wherever that may be. If the next item is on a different canvas, Oracle Forms Developer displays that canvas automatically. Similarly, users can request to move to the next block (or previous block). If the first item in this block resides on another canvas, then that canvas is displayed automatically.
Of course, if you can already see the item that you want to move to, then you may click on it directly with the mouse. You can also program mechanisms into the application to enable navigation in other ways.