For a different perspective, see how Trump's supporters interpreted the speech.
But now Trump’s more emphatic response, belated as it is, has been greeted with incredulity in some of the darker corners of the web. Users of the conspiracy-laden site 4Chan, as well as the more mainstream site Parler, were full of anger at Trump over his apparent climbdown.
The Guardian reported that one user called the move by Trump to distance himself from the mob a "punch in the gut."
"He says it’s going to be wild and when it gets wild he calls it a heinous attack and middle-fingers to his supporters he told to be there," posted another.
"I feel like puking," said another. "A stab in the back," opined one more.
Therefore, even if one can argue that Trump's speech did not explicitly call for insurrection and violence (itself a difficult argument, see the other answers), they were certainly interpreted by Trump's supporters as calling for insurrection and violence.
The highlighted text is especially illuminating.
Update: here's another source with quotes from Trump supporters who stormed the Capitol illustrating how they felt they were participating in a lawful activity sanctioned by the president:
[Jenna Ryan] insisted she and the other Trump supporters who flocked to DC and stormed the Capitol building in a bid to stop the Congress joint session to certify the election were simply obeying Trump's orders.
'Personally, I do not feel a sense of shame or guilt for my heart for what I was doing. I thought I was following my president, I thought I was following what we were called to do,' she said.
'He asked us to fly there, he asked us to be there. So I was doing what he asked us to do. So as far as in my heart of hearts, do I feel like a criminal? No. I am not the villain a lot of people make me out to be or think I am because I’m a Trump supporter,' she added.
Therefore Trump's supporters viewed their actions at the Capitol as legitimate because of what Trump said. If you call the events at the Capitol "insurrection and violence", then [for Trump's supporters at least] his speech also called for for insurrection and violence.