The SAS6 HBA is supported on the R610, but I show only the external version is supported. The H200 supports non-RAID mode disks, it is supported for internal disks on the R610.
Software RAID is software, you can run it on top of hardware RAID, non-RAID, or drives attached to pass-through devices. There are some software storage management systems that have hardware requirements, like storage spaces direct. You should review your software RAID implementation for best practices and requirements.