The quality of a weld depends, besides the weld parameters which are important for the welding process (e.g. voltage, current, wire feed and weld speed) also mainly from the type of input of process energy and of the used filler material. The positioning of the torch exerts a direct influence on the material flow. The heat input for the melting of the component edges and the steady heat flow are, furthermore, directly connected with the torch guidance and exert substantical influence on the weld quality and on the resulting residual stresses. In fully mechanised and automated shielded gas welding, the inaccuracies of torch guidance, workpiece handling, groove preparation and thermal distortion are adding to the variations of the edge position and edge geometry. In fully mechanised welding, the information which is required for the weld quality is detected via sensors. Sensors are applied for checking the position of the component (detection of weld start and end of weld), for joint tracking and for the adaptation of the process parameters to changes of the joints/grooves. It is possible to use the sensors online (together/at the same time with the welding process) or offline (in a separate working step before welding). Sensors are mainly used in online joint tracking.