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iRCalibration Vision Mastering improves robot accuracy by automatically measuring a fixed target (using a camera attached to the tool tip of a robot) while changing the posture of the robot. It adjusts axes J2 through J5 mastering data and J2 through J6 axis spring constants. The spring constants can be adjusted only when the Gravity Compensation Function (used as an optional function) is enabled. For more detailed information, or to purchase Vision Mastering, please go the iRCalibration website at: d2c66b5586