The RL78 programming/debugging method.

Hello all.
what methods are available for the programming of the RL78 group MCU?
1) bootloader via RX/TX
2) bootloader via TOOL0
3) ?programmer? Protocol A? with pull-up the tool0 pin?
this is all methods?

I read manual r01uh0384ej0300_rl78g10.pdf and found in CHAPTER 21 "ON-CHIP DEBUG FUNCTION".
What is it? where i can find debug command specification? or this protocol is closed and available only in the renesas programmer-
emulator E1 and other?
Thank you.