A big-screen adaptation of the series was in development for several years and even reached the rehearsal stage, but never progressed any further.
The cast confirmed that several scenes and concepts from the film script will appear in the new series.
"There are a few scenes that I remember from the movie that have worked their way into this series," Charles said. "But I'm not allowed to tell you about them..."
Asked whether there was any scope for a film to still be made in the future, Charles said that he would not want it to happen at the expense of another series.
"I wouldn't want it to be exclusive of doing the series. We've been down that street before, we've kind of stopped doing the TV series to try and make the film, and ten years later there's still no film, and we've missed out on ten years of making Red Dwarf."
Red Dwarf X starts on Dave (Sky 111, Virgin 128, Freeview 12) on Thursday, October 4 at 9pm.
The series is available to download from October and buy on DVD from November 19.
