By 'tune in' he means calibrate an end effector to be mounted on the robot. This involves TCP calibration (tool center point) and specifying the centre of mass

By 'tune in' he means calibrate an end effector to be mounted on the robot. This involves TCP calibration (tool center point) and specifying the centre of mass and moments of inertia. KUKA robots, for example, allow you to determine the TCP by manually posing the robot so that the tip of the end effector (tool) is at a fixed point. This is then repeated three more times from different poses (but the same tool point) so that the robot can solve for the 3 values that determine the tool's XYZ offset from the flange (mounting point at the end of the robot). The robot controller then uses this data when calculating inverse kinematics and supplying power to the axes.