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What changes need to make in configuration when we are connecting a older Vijeo Citect version with a new one.

You can only able to connect to a one version earlier to the current IO Server version in VJC. For this you need to set the following INI parameter
 
[LAN]EarliestLegacyVersion
Specify the minimum legacy version from which the current version will accept connections.
Connection attempts from processes which are on or above the specified value will be accepted.
Connection attempts from processes which are below the specified value will be denied. the established connection will only be as secure as the
earlier of the two connected versions.
 
The value for this parameter is created using the following formula:
(Product Major Version x 1000) + (Product Minor Version x 10) + (Post Release Version)
For example, for version 7.10, use (7x1000) + (10x10) + (0)=7100
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