Trump wanted Pence to nullify some electoral counts he didn't like and replace them with counts he did like. He staged a protest to encourage that to happen. When it became violent he delayed intervening for several hours most certainly because he thought they would succeed. This does not mean that he wanted the protest to be violent, only that he didn't care enough to intervene. Stopping the count also does not necessarily mean that it was a coup though replacing it with fake electors would be a soft coup if that was the intention. Stopping the count was his stated desire and he tried two ways, through a staged protest and through Pence. Reports say that he was told some of the protesters were armed, which he did nothing about. That does not mean necessarily that he wanted an armed rebellion but it does show that he didn't care very much about the potential.
None of these things have ever been attempted by past presidents whether it was just a staged peaceful protest, riot, or coup.