You can, although the role is limited to the resolution of the sequencer. So if you have it at quarter notes, it will not record 32nd note rolls, for example.
Go to Control Mode
Hold Shift
If Step 9 is not lit, press it so it’s blue. This switches from Loop to Roll mode.
Press Drum.
Start recording.
Press the pad and the roller.
Behold.
(Assuming current firmware and whatnot.)