There are 3 Requirements for every mission. You’ll get 5 Soul Orbs for fulfilling all the 3 requirements.
The main requirements are:
1. Defeat the Boss.
2. Clear the quest without any member being knocked out.
3. Clear the quest in 3m 0s or less.
Sometimes, there will be special requirements for a certain mission so do take note before starting your battle.
Chapters – click on the chapters to see the stage details.