You're reading the documentation for an older, but still supported version (GL013302).
For information on the latest version, please have a look at GL013303.

3.3.4 Motion Control Utilities

Motion Execution Control

• stop (Auto Mode)
• move_pause (Auto Mode)
• move_resume (Auto Mode)
• mwait (Auto Mode)
• check_motion (Auto Mode)

Motion Behavior Configuration

• set_singularity_handling (Auto Mode)
• set_singular_handling_force (Auto Mode)