S120 Using speed control and positioning in the same application

Good moning

For using speed control I put p1142[0]=1 and p2550=0 and for using position put p1142[0]=0 and p2550=1.

If I power on the Cu with p2550=0 I can control with speed without any problem.

But I I use the positioning function (in me case MDI) when I retorn using speed control I receve error message P07450 (posicion of stop)... but the positioner is off with p2550=0....

After some test I see:

If I put  0 in p2542 e p2544, this monitoring is unable so I can pass to speed control without problem... but I disable this monitoring...

If I stop speed control working and I only change the bit p2550 in 1 (puting also p1142[0] =0) without make any positioning and put 0 immediately ... I have the same error......

After some test... because I repair the system only power off and on... I see that before starting speed control (p2550=0 and p1142=0) if I use before p2550=0 I haven't the error putting  p867=1 and OFF1=0 and OFF1=1 and p867=0, in this sequence... I make on PLC.... 900ms the 4 step... Better that power off and on the CU.... but not a solution... I lose time and also the motor is not enable so can move.

I don't know my mistake...