Yes, you can. If the auto-charge credit/debit card token is tied to a certain recurring, then every future payment by the invoice that has been created by that specific recurring payment will automatically be charged right after the invoice is created.

How to set auto charge on recurring? 

Using API

• You have to set parameter "recharge" as true on your recurring creation request
• You also can add token by inputting "credit_card_token" that can be created on Create token API 

Using Dashboard

• During recurring creation, you should tick auto charge under advance options (screenshot attached)