If I understand what you mean, yes you can trigger different drum sounds from the Pk5A.
Tassiespirit only read the first part (Factory Set).
Here you have the instructions that follows on the manual:
_ USER SET
Press the USER SET selector  (the corresponding
indicator lights), to select a different
Drum Set assignment, which is called USER SET.
Unlike the factory set, the USER SET assignments
can be changed (which would be useful
for triggering samples, grooves, etc., for example).
The original assignments are as follows:
• Programming the User Set
(1) Connect an external keyboard’s (or the
sequencer’s) MIDI OUT socket to the PK-5A’s
MIDI IN socket.
(2) On the external instrument, set the transmit
channel (TX) to the MIDI channel used by the
PK-5A’s DRUMS mode (probably “10”).
(3) On the PK-5A, select the DRUMS  mode.
(4) Press and hold the USER SET selector  for
at least two seconds (until its indicator starts
(5) While the USER SET indicator is flashing,
press the key on the external keyboard whose
note number you wish to assign to the USER
Example: to assign the note “C1” (24) to a pedal,
press that key on the external instrument (or
transmit a long C1 with your sequencer).
(6) On the PK-5A, press the pedal you wish to
assign the received note message to.
Example: to assign the “C1” to the leftmost
pedal, press .
Release the key you are holding on your keyboard.
All indicators briefly light to confirm
(7) Repeat steps (4)~(6) to assign different note
numbers to the remaining pedals
You can find the complete owner's manual here:http://www.roland.com/manuals/en/index.cfm?SEARCHBY=PrNm&SPRNM=PK-5A