Yes, it's possible. Symantec recommends to keep the SEPM and SEP clients on the same version & always use the latest version to enjoy new enhancements and next level protection.
Here is the latest best practice article for SEP 12.1 RU5 (12.1.5337.5000)
Best practices for upgrading or migrating to Symantec Endpoint Protection 12.1.5 (RU5)
http://www.symantec.com/docs/TECH224034