Internet-Security.com TCP port 30002 details

Universal Robots industrial robot controllers (UR3/UR5/UR10 and e‑Series) use TCP port 30002 as the “secondary interface” for URScript.
It’s used by real tools such as URSim/PolyScope, the Python “urx” library, and ROS-Industrial drivers (e.g., ur_robot_driver) to upload programs, send motion commands, and read state; for example, ur_robot_driver sends URScript over 30002 while using 30004 for RTDE and 29999 for the dashboard.
Security note: When exposed to the internet or misconfigured, this port has been abused to issue commands (start/stop programs or move the robot) on vulnerable Universal Robots systems, as reported in ICS/robot-security research and scans of publicly reachable robots.

TCP 30002