You can use the run-script API call against the management server to execute commands on managed gateways.
This can be called thru Ansible just like any of the other Management API calls.
The gateways do not need to be on R80.x as the management server will use cprid to execute the command on the gateway.
However, the commands will be executed in expert mode, so make sure whatever command(s) you pass will run in expert mode.
Which means if you want to run clish commands, you need to execute them as clish -c command.
I don't have any specific examples handy.