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Save router configuration to tftp server:

#Set copy method via OID ccCopyProtocol:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.2.112 i 1
#Set source filetype to running-config via OID ccCopySourceFileType:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.3.112 i 4
#Set destination to networkfile via OID ccCopyDestFileType:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.4.112 i 1
#Set TFTP server ip via OID ccCopyServerAddress:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.5.112 a {ip-address-tftp-server}
#Set destination filename via OID ccCopyFileName:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.6.112 s router.cfg
#Start tftp download via OID ccCopyEntryRowStatus:
snmpset -v 2c -c  {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.14.112 i 1

Upload router configuration from tftp server:

#Set copy method:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.2.116 i 1
#Set sourcefile to network file:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.3.116 i 1
#Set destination to running-config:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.4.116 i 4
#Set TFTP server ip:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.5.116 a {ip-address-tftp-server}
#Set desination filename:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.6.116 s output.cfg
#Start tftp upload via via OID ccCopyEntryRowStatus:
snmpset -v 2c -c {community-string} {device-ip-address} 1.3.6.1.4.1.9.9.96.1.1.1.1.14.116 i 1

Note: The integer highlighted in red is a random integer and you can choose any integer between 1 and 255. Keep in mind to use the same integer for the whole download procedure! See the integer as a session.