On the day the tabernacle was set up, the cloud covered the tabernacle, the tent of the testimony, and it appeared like fire above the tabernacle from evening until morning.
References for Numbers 9:15
It remained that way continuously: the cloud would cover it, appearing like fire at night.
References for Numbers 9:16
Whenever the cloud was lifted up above the tent, the Israelites would set out; at the place where the cloud stopped, there the Israelites camped.
References for Numbers 9:17
At the Lord's command the Israelites set out, and at the Lord's command they camped. As long as the cloud stayed over the tabernacle, they camped.
Even when the cloud stayed over the tabernacle many days, the Israelites carried out the Lord's requirement and did not set out.
Sometimes the cloud remained over the tabernacle for [only] a few days. They would camp at the Lord's command and set out at the Lord's command.
Sometimes the cloud remained [only] from evening until morning; when the cloud lifted in the morning, they set out. Or if it remained a day and a night, they moved out when the cloud lifted.
Whether it was two days, a month, or longer, the Israelites camped and did not set out as long as the cloud stayed over the tabernacle. But when it was lifted, they set out.
References for Numbers 9:22
They camped at the Lord's command, and they set out at the Lord's command. They carried out the Lord's requirement according to His command through Moses.