In the manual you have copied in your answer you see the Command "DIRECT TO AND JOIN".
This in fact addresses what I have answered you in my very first answer above. You direct your plane to LIMKO and there it automatically joins a given procedure.
My second answer addresses the "JOIN PROCEDURE" command, used to command a procedure explicitly.
The manual indeed only gives an example of a procedure name.
In both cases it is important to route the plane to LIMKO, as this is the initial fix for the procedure starting there.
The reason for the exchange of the "R" with an "H" is the different AIRAC.
Procedure names have changed with the AIRAC that is valid since yesterday.
While in AIRAC 1703/1704 "R30_X-LIMKO" has been the name of this RNP-procedure, the name changed with AIRAC 1706 to "H30_X-LIMKO".
When you update your AIRAC data, you will no longer find "R30_X-LIMKO" in the procedures, but "H30_X-LIMKO" instead.
You can easily verify this by inspecting and comparing the procedure file (LLBG.txt in the PROC subdirectory).
It is of course easier to verify it by looking into the charts, in case you have access to them.
So the procedure name to command is always identical to the one listed in the PROCEDURES-tab.