All axes that are part of a kinematic are moved coordinated. That means the movements starts and stops at the same time. The set velocity in a kinematic command is only affecting the TCP path. (See motion object documentation) So the velocity of the 4th axis will result from the time needed to complete the command for all axes and the commanded distance. Please also beware of the motion limit values of the axes.
The direction of rotation is determined by your commanded position.
If you just like to like to run a rotational axis freely at the same time as the kinematic I would suggest to do a parallel single axis command for it. In the IDE you can choose run in parallel. The mane problem here is when your axis movement should stop.
We could also have a live meeting to get a better idea what you want to do and how to reach it. Please write me a personal message with your contact data to do so.
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