Per the Transports and fallbacks section of this page, SignalR first tries to use WebSockets and Server Send Events. Then it'll fall back to Frame or Long Polling as a last option.
Safari on an iPad supports WebSockets. But it should be noted that iOS Safari implements a different standard: HyBi-00/Hixie-76 (not RFC 6455). Server send events work too, but only if the page is active on screen.
I am not sure if older versions of Safari on iPad (iOS 5/6) will fall back to other transports - but you could use http://websocketstest.com to test that.