This depends on the snare pad that’s connected to the SN plug of the dedicated connection cable. For details on which pads support rim shots, see the “PAD Type list” in the TD-02 Owner’s Manual.
-The PD-4 snare pad included with the TD-02K does not support rim shots.
-Set the PAD Type when you’ve changed the snare pad.
-Also, see the related Q&A, “How do I enable Cross-stick (X-Stick)?”.