diff --git a/src/egm_manager.cpp b/src/egm_manager.cpp
index 91847b2..1a2df35 100644
--- a/src/egm_manager.cpp
+++ b/src/egm_manager.cpp
@@ -86,6 +86,14 @@ missed_messages_{MISSED_MESSAGES_THRESHOLD}
     {
       interface_cfg.axes = egm::RobotAxes::Seven;
     }
+    else if(configuration.mech_unit_group.robot().axes_total() == 4)
+    {
+      interface_cfg.axes = egm::RobotAxes::Four;
+    }
+    else
+    {
+      // Default to six axes as defined in the BaseConfiguration constructor
+    }
   }
   else
   {
diff --git a/src/utilities.cpp b/src/utilities.cpp
index 569ad70..1f53a62 100644
--- a/src/utilities.cpp
+++ b/src/utilities.cpp
@@ -90,7 +90,6 @@ void initializeMotionData(MotionData& motion_data, const RobotControllerDescript
     motion_unit.name = unit.name();
     motion_unit.type = unit.type();
     motion_unit.active = unit.mode() == MechanicalUnit_Mode_ACTIVATED;
-    motion_unit.supported_by_egm = false;
 
     // Set indicator for if the unit is supported by EGM or not.
     if(unit.type() == MechanicalUnit_Type_TCP_ROBOT)
@@ -110,6 +109,14 @@ void initializeMotionData(MotionData& motion_data, const RobotControllerDescript
           motion_unit.supported_by_egm = true;
         }
       }
+      else if (unit.axes_total() == 4)
+      {
+        motion_unit.supported_by_egm = true;
+      }
+      else
+      {
+        motion_unit.supported_by_egm = false;
+      }
     }
     else if(unit.type() == MechanicalUnit_Type_ROBOT || unit.type() == MechanicalUnit_Type_SINGLE)
     {