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
Great
Your efforts for the video are just inspired me.
Very good job Pawan.
Thanks Swapnil for inspiring me too!