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Incursions are maps that can be played after a Chaos Trials map has been completed. Upon completing a Chaos tier for the first time (Chaos 1-7), one or two incursions are unlocked for that Chaos tier. Each map has unique playing conditions that are found only on that map, and in Incursion mode.
Upon completing the incursion you permanently unlock a special weapon, which can be purchased from the Wayfarer for 500 defender medals. Special weapons have a chance to drop in the victory chest on the Incursion map that unlocked it, each time it is played. Each special weapon is a legendary drop, for the chaos level it is earned on. Each one will have the first MOD slot locked with a special MOD that only comes on that weapon, and cannot be moved off of it or replaced. The special MOD can be rerolled though. They will also come with a second MOD that is normal and can be moved or replaced.