Assuming this is the SAS 6/iR and not the actual SAS 6 HBA (because it does not support RAID), it ONLY supports RAID 0 and RAID 1. It is a limitation of a very low-end card. If you can swing it, I would recommend you get a PERC 6/i, which is a high-performance controller and can do RAID 5 (although I would strongly recommend a RAID 10 or RAID 6 instead of RAID 5).   No utility is required ... drives can simply be removed/inserted at any point, HOWEVER; All SATA and SAS disks are hot-swappable, and the SAS 6 is a 3Gbps controller with no write cache (H700 is 6Gbps with 512MB or 1024MB write cache).
I have a PE T310 with a SAS 6 Host Bus Adapter, MPTBIOS 6.22.03.00 and 4 x 1TB Seagate Constellation ES.3 SAS drives. Currently, my only options are to create a 1TB RAID 1 or a 2TB RAID 0 on two separate channels.   I would like to create a 6Gbps, 2TB RAID 5 configuration with a hot spare or a RAID 6. Is there an upgrade available to accomplish this? Also, I'm a little confused as to how to hot swap drives. Is there a utility I need to install to quiet the drive bus before removing it? If so, does this utility work with both SATA and SAS drives? Thank you in advance for your assistance. 
PowerEdge T310 - Upgrade for SAS 6 to 6Gbps & RAID 5?