Yes, but not directly. Scanner does not talk CDP directly to devices, rather it can use CDP information of devices it scans in order to find additional devices to scan, even if outside the range of IPs initially entered into scanner. 

You first must check the Enable CDP Discovery option in the scanner and specify a discovery depth before CDP information from devices will be used by scanner. 

After enabling this option, scanner will check for CDP neighbor information on devices it successfully connects to via other protocols, and any additional device IP addresses that are learned will be added to the list of IP addresses that scanner will probe.