Potty Training Older Dog?

My husband and I rescued an older dog that was lost in our city about 4 months ago. We initially set her up on a schedule to go out in the morning, when we got home from work (around 3), and before we went to bed (around 10). She does not go to the bathroom in the house when we're not home; however, we were having problems with her when we were home going to the bathroom on the carpet without telling us she needed to go out. She has never, ever barked, whined, stood by a door to go outside so we're assuming her previous owners didn't teach her this. What we did figure out is that she had access to pee pads at her old house. So, we've set her up with those and they're working great--she doesn't pee on the carpet anymore; however, we want to get her off the pads and teach her to let us know to go outside. We still take her out the three times a day but she still pees on the pads while we're home. Is it possible to get her off the pads since she's older (we think about 5-6) and this is how she's been her whole life? What do you suggest? Thanks for your help in advance!
 
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