Final answer:
Voltage-gated Na+ channels open when the membrane depolarizes, allowing Na+ ions to enter the cell and causing depolarization.
Step-by-step explanation:
Voltage-gated Na+ channels open when the membrane depolarizes. When the cell is at rest, the activation gate of the voltage-gated Na+ channel is closed and the inactivation gate is open. However, when the membrane potential reaches the threshold, the activation gate opens, allowing Na+ ions to rush into the cell and causing depolarization. After depolarization, the inactivation gate closes, preventing further entry of Na+ ions. When the membrane potential returns to the resting state, the activation gate closes and the inactivation gate re-opens, preparing the channel for the next action potential.