Yes, Pin 6 of the auxiliary port is supply voltage (5 volts), pin 1 is RA and pin 2 is Dec.
For a focuser it is pin 1 and rotator is pin 2. On focuser, this works in only one direction in the software checkbox (On true move xxx), not sure about RA & Dec.
See page 112 - 116 of setup manual.
Setup manual is under supplemental documentation of SiTech website.