Yes, indeed. The details and instructions are HERE if you want to write port forwarding rules. Thanks to MajorGrubert
There is an easier process below.
Note: On some 5200 versions you can just turn off the firewall (at your own slight to no risk - see below).
Updated Details: Even with the 5200 Firewall Off you will still be protected as it's not really Off, but it allows Ping and Tracert (Trace Route) to work. Use it when you run Tracert (Trace Route), Pings, Doctor Ping, Tweak Tester and Line Quality Tests by toggling it to Off and when finished, put it back on Low if you feel the need, but you will be pleasantly surprised at the results while Off.
Firewall and Tweak Test links to verify the information posted is correct.
