Sometimes both kinds of understanding are ok, and there is no need to distinguish.
When I knocked at the door, I also took out my mobile phone.
When I knocked at the door, I took out my mobile phone. (time)
I usually take out my cell phone when I knock on the door. (accompanying)
2. The present participle is an adverbial, which emphasizes that the adverbial action must occur before the predicate action, and there is an obvious sequential relationship or logical connection between them.
If two movements are tight in time or happen/go at the same time, you only need to use the general formula.
Of course, there must be an active relationship between the subject of the sentence and the verb Ving.
I had to leave after waiting for two hours.
Waiting happens before you have to leave.
While waiting for him there, I read a book.
Wait and read operations are performed simultaneously.