Just use JAX-WS.
JAX-RPC has been deprecated in favor of JAX-WS since many years ago already. Its intent was to use Remote Prodecure Calls style to call SOAP web services and after some time, it was substituted by JAX-WS.
In other words, JAX-WS was the successor to JAX-RPC.
There's a small exception though, and that is if you have to send an encoded-style SOAP message, then you would have to use JAX-RPC. But unless you have to develop a client for a very old web service, you will not want to do that, since encoded messages are not WS-I Basic Profile compliant.
Here you can see the diferences between the two libraries.