Yamaha single zone pads and cymbals, like TP65 and PCY65 should work with no problems. Same with kick pads, like KP65.
Pads and cymbals with more than one zone, might only have one zone that will work. Most hi-hat controllers are specific to brand.
Same goes for mixing between most Roland and Yamaha stuff.
Some Roland stuff requires special cables with built in resistors in order to merge 2 single zone pads, like PD6's, into one dual zone input, on their own modules. (pretty sure - only know about the spd-30 for sure, but the others probably work the same).
To do that with Yamaha, you can use standard insert cables.