Obviously you are using the Generic-App.
What you are doing is correct. Currently you can only command either position or velocity (not at the same time).
Velocity setpoints are integrated to a position command. This happens in root/Control/jointJogIntegrators/. These are integrators with limiters on the inputs and outputs. So make sure your limits are setup correctly for your application.

Once the signal is a position command this is fed into PVA-Limiters. These smooth and limit the signal. You can find the settings of the PVA limiter in the Desk tool.

Here you can set for instance the maximum velocity and acceleration.
root/Control/actuatorLimiters/pvaLimiter01/maxVelocity
root/Control/actuatorLimiters/pvaLimiter01/maxAcceleration