CVE-2020-10264 | RTDE Interface allows unauthenticated reading of robot data and unauthenticated writing of registers and outputs

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

Published: 2020-04-06 Last update: 2024-11-21 Assigner: [email protected] Source: [email protected]
NVD Status：Modified，CVE State: published
View at NVD, CVE.org, EUVD

CVE-2020-10264 is rated Moderate Risk (44.5/100): CVSS High severity, with low exploitation likelihood (EPSS 0.11%). Review affected assets and schedule remediation.

Risk is dynamic; we continuously reassess and refresh what is shown on this page as upstream context changes.

Exploit prediction scoring system (EPSS) score for CVE-2020-10264

EPSS lead: Daily EPSS estimates relative likelihood of exploitation; percentile ranks this CVE among scored vulnerabilities (higher = more severe relative rank).

# Date Old EPSS score New EPSS score Delta (New - Old)
1 2025-03-30 0.29% 0.11% -0.17%
2 2025-03-29 0.07% 0.29% +0.22%
3 2023-03-07 — 0.07% —

Full EPSS history (7 records total)

Common vulnerability scoring system (CVSS) metrics for CVE-2020-10264

CVSS metrics for this CVE.

Base score Version Severity Vector Exploitability Impact Score source
8.8 3.1 HIGH
CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:H/I:H/A:H Click to expand
Attack vector (AV:A)
Attacker has to be nearby on the network—same office, same link, that vibe—not the whole wide internet.
Attack complexity (AC:L)
Once they can reach the bug, pulling it off is straightforward—no weird race conditions or rare setup.
Privileges required (PR:N)
No account or special rights needed—anonymous or random user is enough.
User interaction (UI:N)
Nobody has to click “OK” or open a trap file; it can work without a victim helping.
Scope (S:U)
Damage stays in the same “trust bubble” as the broken component—no big spill into unrelated systems.
Confidentiality (C:H)
Serious risk that confidential data gets exposed in a big way.
Integrity (I:H)
They could widely tamper with or forge data—trust in the data is badly hurt.
Availability (A:H)
Could take the service down hard or make it unusable for people who depend on it.
 2.8 5.9 [email protected]
8.8 3.1 HIGH
CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:H/I:H/A:H Click to expand
Attack vector (AV:A)
Attacker has to be nearby on the network—same office, same link, that vibe—not the whole wide internet.
Attack complexity (AC:L)
Once they can reach the bug, pulling it off is straightforward—no weird race conditions or rare setup.
Privileges required (PR:N)
No account or special rights needed—anonymous or random user is enough.
User interaction (UI:N)
Nobody has to click “OK” or open a trap file; it can work without a victim helping.
Scope (S:U)
Damage stays in the same “trust bubble” as the broken component—no big spill into unrelated systems.
Confidentiality (C:H)
Serious risk that confidential data gets exposed in a big way.
Integrity (I:H)
They could widely tamper with or forge data—trust in the data is badly hurt.
Availability (A:H)
Could take the service down hard or make it unusable for people who depend on it.
 2.8 5.9 [email protected]
5.8 2.0 MEDIUM
AV:A/AC:L/Au:N/C:P/I:P/A:P Click to expand
Access vector (AV:A)
Requires access to an adjacent network segment.
Access complexity (AC:L)
Exploitation conditions are straightforward and predictable.
Authentication (AU:N)
No authentication is required.
Confidentiality impact (C:P)
Partial confidentiality impact.
Integrity impact (I:P)
Partial integrity impact.
Availability impact (A:P)
Partial availability impact.
 6.5 6.4 [email protected]

Weakness enumeration for CVE-2020-10264

Vendor comments (NVD) for CVE-2020-10264

  • Universal Robots (2022-04-12T13:44:00.157)

    Software version 5.10 brings improvements to usability and configurability of Secure Shell Protocol (SSH), such that tunneling can be used to secure primary, secondary, RT, RTDE, DashBoard server and other interfaces. Universal Robots recommends that all users use SSH tunneling to access these interfaces in applications requiring authentication and encryption. Additionally, SW version 5.10 includes a built-in configurable firewall, allowing fine-grained restrictions of remote access, and number of other security improvements. Universal Robots (UR) recommends always using the latest UR software, as security improvements will be rolled out continuously. CB2 and CB3 cobots are designed to be operating in factory networks where security relies on boundary protection (firewalls) and trusted clients on the network. They must only be connected to trusted networks and operated by authorized personnel.

Affected software / configurations for CVE-2020-10264

Vendor Product Version Raw CPE
universal-robots ur_software >= 3.0.14989, <= 3.3.3.292 cpe:2.3:a:universal-robots:ur_software:*:*:*:*:*:*:*:*
universal-robots ur_software >= 5.0 cpe:2.3:a:universal-robots:ur_software:*:*:*:*:*:*:*:*

References for CVE-2020-10264

cvelogic Threat Intelligence