It is possible but not certain if you are a reasonably healthy adult without heavy luggage.
Step out of of the regional or rapid-transit train on the upper level. Take the stairs to ground level. Two minutes, maybe.
Walk to on the ground level towards the stairs to the subway. That makes the difference, depending on which stairs you took from the upper level. One to five minutes.
Walk down the stairs, though a short corridor, down another set of stairs to the subway platform. Two to three minutes.
And as Henning pointed out, if you miss one subway there will be a next one. The frequency depends on the time of day and day of week.