Yes that is supported. Use a JSDataSet object for the PKs.
If you have a composite keys, then you must add each key to the dataset as an array
// Adds keys to a dataset
var ds = databaseManager.createEmptyDataSet(0,2) // create a dataset with 0 rows and 2 columns (assuming a 2-column key)
ds.addRow([101,202]) // add keys to the row as array of values (I believe the columns will be interpreted in alphabetical order)
plugins.rawSQL.notifyDataChange(serverName,tableName,ds,SQL_ACTION_TYPES.INSERT_ACTION);