Yes. On the TR-6S, you can record each INST to a separate audio track in your DAW via USB audio.
To use the TR-6S as a USB audio interface, you must first install the dedicated USB driver on your computer. Please download the driver from the Roland support website and complete the installation before connecting the unit via USB.
Follow the procedure below to configure the output settings.
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Install the USB driver compatible with the OS you are using.
TR-6S USB Driver Download: https://www.roland.com/global/support/by_product/tr-6s/updates_drivers/
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Select the input for the audio track in the DAW software.
USB IN 1-6(INST × 6, MONO)