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I have connected a device locally to a RUT955 via ethernet. This device responds to an HTTP request. This response should be forwarded to a Server.

Can I configure the Rut955 to send an HTTP request to the device every 6 hours and forward the response to my server? If so, how do I configure the router?

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you will need to write script for that.

Try to use crontab which executes this line every 6 hours.

In example:

0 */6 * * * curl | nc

curl to your device, nc to your server
The forwarding to the server can be encrypted somehow?

Should i use IPsec in transport mode for this topic?
Yes, you can try IPsec transport or any other VPN.