When does Cagney and Lacey return?

The series is set in a fictionalized version of Manhattan's 14th Precinct (known as "Midtown South) The pilot movie had Loretta Swit in the role of Cagney, while the first six episodes had Meg Foster. The show is about two New York City police detectives who lead very different lives. Each year one of the lead actresses won the Emmy for Best Lead Actress in a Drama.