The short answer is yes, the long answer is it is not obvious
First using the GUI interface go to Security-Encryption Manager and select Cipher then TKIP from the drop down,dlick apply, you are done with this page.
Second select SSID manager,in this window select your SSID then go to the Authenticated Key Management frame select Mandattiry and check the WPA box. type or paste your WPA key in the WPA pre-shared key box. click apply, you are done
http://www.cisco.com/en/US/products/hw/wireless/ps4570/products_configuration_example09186a00801c40b6.shtml
this is the link for the configuration
Good luck
Bill