Yes it is possible, but its not as easy as you might think. You have to take the wrist of, remove axles for the wrist (a4 tot a6). remove the extension that was between the wrist and the arm. Replace axles with standard short version an mount everything back together. Not sure if there where more changes than just the axles, it has been a few years since i discussed this with a kuka engineer.
After assembly change mada and remaster and you should be good to go.