To elaborate Monkpit's answer which is correct .Below code is  worked for me , verified and tested in protractor v 5.4.2 .
Only thing is needed to open the cmd via admin mode to avoid the permission error since I installed Firefox in program files.
 capabilities: {
      browserName: 'firefox',
      'moz:firefoxOptions': {
            args: ['--verbose'],
            binary: 'C:/Program Files/Mozilla Firefox/firefox.exe'
       //Need to start cmd via admin mode to avoid permission error
        }
},   
    Full code 
exports.config = {
  framework: 'jasmine',
  directConnect: false, //Start protractor without start the selenium server using webdriver-manager start. default value is fales
  //This is  only for chrome and firefox and use drivers instead of selenium server
  capabilities: {
      browserName: 'firefox',
      'moz:firefoxOptions': {
            args: ['--verbose'],
            binary: 'C:/Program Files/Mozilla Firefox/firefox.exe'
       //Need to start cmd via admin mode to avoid permission error
        }
},   
    //set to true So each spec will be executed in own browser instance. default value is false
    //restartBrowserBetweenTests: true,
     jasmineNodeOpts: {
    //Jasmine provides only one timeout option  timeout in milliseconds don't add ;
    defaultTimeoutInterval: 180000
     },
  seleniumAddress: 'http://localhost:4444/wd/hub',
  specs: ['src/com/sam/scriptjs/iframes.spec.js']
}