You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

3.4.5 Realtime Command (High-Frequency Control)

• set_velj_rt
• set_accj_rt
• set_velx_rt
• set_accx_rt
• speedj_rt
• speedl_rt
• servoj_rt
• servol_rt
• torque_rt