Method for providing a referenced distance signal (d) which corresponds to the distance between a contact tip (KS) of a welding torch and a workpiece (W) to be processed, comprising the steps of: (a) setting (S1) a working point (AP) on a predetermined welding characteristic (SKL), which is defined at least by a wire feed rate (V D ), a welding voltage (U) and/or a welding current (I), and a CTWD between the contact tip (KS) of the welding torch and the workpiece (W) to be processed; (b) reading out or determining (S2) a target parameter value (P Soll ) of a parameter (P), dependent on the CTWD, for the set working point (AP) on the welding characteristic (SKL); (c) determining (S3) an actual parameter value (P Ist ) of the parameter (P) dependent on the CTWD by measuring at least one of the current welding parameters of wire feed rate (V D ), welding voltage (U) or welding current (I); (d) adjusting (S4) the determined actual parameter value (P Ist ) as a function of a calculated deviation (ΔP) between the target parameter value (P Soll ) and a predetermined reference value (P ref ) of the parameter (P), which is in the middle of an output value range of the referenced distance signal (d); and (e) outputting (S5) the referenced distance signal (d), which corresponds to the adjusted actual parameter value (P Ist' ), to a robot control unit as a seam-tracking signal during a welding process to control a position of the welding torch coupled to a robot arm , the position of the welding torch being adjusted, by means of the robot arm , in such a way that the output value of the referenced distance signal (d) changes to the predetermined reference value (P ref ) so as to maintain a desired CTWD. (a) setting (S1) a working point (AP) on a predetermined welding characteristic (SKL), which is defined at least by a wire feed rate (V D ), a welding voltage (U) and/or a welding current (I), and a CTWD between the contact tip (KS) of the welding torch and the workpiece (W) to be processed; (b) reading out or determining (S2) a target parameter value (P Soll ) of a parameter (P), dependent on the CTWD, for the set working point (AP) on the welding characteristic (SKL); (c) determining (S3) an actual parameter value (P Ist ) of the parameter (P) dependent on the CTWD by measuring at least one of the current welding parameters of wire feed rate (V D ), welding voltage (U) or welding current (I); (d) adjusting (S4) the determined actual parameter value (P Ist ) as a function of a calculated deviation (ΔP) between the target parameter value (P Soll ) and a predetermined reference value (P ref ) of the parameter (P), which is in the middle of an output value range of the referenced distance signal (d); and (e) outputting (S5) the referenced distance signal (d), which corresponds to the adjusted actual parameter value (P Ist' ), to a robot control unit as a seam-tracking signal during a welding process to control a position of the welding torch coupled to a robot arm , the position of the welding torch being adjusted, by means of the robot arm , in such a way that the output value of the referenced distance signal (d) changes to the predetermined reference value (P ref ) so as to maintain a desired CTWD. <EOS>