Yes, you can, but without providing strong Humanitarian & Compassionate reasons, or accompanying a Canadian citizen, it will very likely be denied, and you will lose your PR status. The amount of non-compliance with the RO is at the maximum level possible, given you did not live in Canada in the last five years.
How long had you lived in Canada before leaving? Do you have any family ties to Canada?
Why do you want to go to Canada? Is it just to visit, or do you want to live here again? If you want to just visit, it may be easier and quicker to renounce your PR voluntarily and apply for a visitor visa.
