KUKA LBR iiwa-Joint Overlay using FRI-Monitoring and Commanding Joint Axis via KONI port

Refer below tutorial video for clarification regarding Fast Robot Interface on LBR iiwa:

For ROS integration: Monitoring and Commanding Joint axis is possible in real time using Fast Robot Interface (FRI). Use KONI port provided on controller for FRI. Use KLI port only for Sunrise Project Synchronization. For Futher Help visit www.kuka.com For suppport and training contact KUKA India at service[at]kuka.in