2-94. Commanders initiate the MDMP upon receipt of, or in anticipation of, a mission. Commanders and staffs often begin planning in the absence of an approved higher headquarters’ OPLAN or OPORD. In these instances, they start planning based on a warning order (WARNORD), a planning order, or an alert order from higher headquarters. This requires active collaboration with the higher headquarters and parallel planning among echelons as the plan or order is developed. (See FM 6-0 for detailed instructions for conducting the MDMP.)