First, welcome to Hiptest.
I will try to answer your questions:
1 - Is programming/coding knowledge required to automate test cases with Hiptest publisher
Yes, Hiptest publisher will generate executable scripts, but the logic behind should be implemented by the automation team / devs.
2 - Do you expect a test automation engineer (or somebody with coding knowledge) to implement the action words or steps?
Yes, this is how it works, but when you implements a lot of actionwords, the fact that Hiptest promote usage of the existing actionwords, you can imagine writing scenarios based on the existing steps, and execute them without needing to re implement anything.
3 - Do you have an email to which I could write for support/help?
You can reach the support team using both email and this chat window. The email of support is : support [AT] hiptest.[net]