CB3 SW Version 3.3 and upwards, e-series SW Version 5.0 and upwards allow authenticated access to the RTDE (Real-Time Data Exchange) interface on port 30004 which allows setting registers, the speed slider fraction as well as digital and analog Outputs. Additionally unautheticated reading of robot data is also possible

References

• https://nvd.nist.gov/vuln/detail/CVE-2020-10264
• https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide/