The FMIPv6 protocol, as specified in RFC 4068, is meant to improve handover latency due to Mobile IPv6 procedures. The following document synthesizes this specification and is by no mean a kind of replacement. Condensing FMIPv6 messages helped us a lot understanding the protocol.
First of all, when a Mobile Node (MN, a Mobile IPv6 host) is performing Router Discovery once arrived to a new subnet or gets notified by Link Layer triggers (when the signal decreases and crosses down a treshold for example) it sends an FMIPv6 message requesting information for potential handover, called the Router Solicitation for Proxy Advertisement (RtSolPr). This message is sent to the Previous Access Router (PAR, the MN's default router prior to its handover) and contains a list of nearby Access Points for which the MN wants to know detailed informations, such as the Link Layer address, IPv6 address and prefix of the correspondant Access Router.
If the MN has received the FBack on the previous link, that's a Predictive Handover.
If the MN has received the FBack on the new link, that's a Reactive Handover.