The S100 and S300 controllers are the only "validated" RAID controllers for the R210 II that will do RAID 5. They are Windows only, do not support 6Gbps, do not support SAS, and will not support tape drives. The S100 and S300 are software RAID, so do not expect much for performance from them.
Your only option is an H200 - it does NOT do RAID 5 (RAID 0,1,10), but is 6Gbps, supports SAS, and supports non-RAID/passthrough, so you should be able to attach your tape drive. If you MUST do RAID 5, then you would need to do software RAID (OS managed).