Friction stir welding is a solid-state joining process with a wide range of industrial applications in the e-mobility, automotive, aerospace and energy industries. However, friction stir welding is subjected to process-specific challenges, including comparatively high process forces and friction stir welding tool wear resulting from tribological interaction between the tool and workpiece. The geometric-related friction stir welding tool wear can cause varying material flow conditions, lateral path deviations and premature tool failure, with detrimental economic and technological consequences. This study systematically analyses the wear behaviour of friction stir welding tools as a function of tool hardness. To compare and differentiate the geometric-related tool wear as a function of tool hardness, experiments were carried out with a hardness of 240 HV, 410 HV and 580 HV. Whereas 240 HV is non-hardened, 410 HV is 50% of the secondary hardness maximum and 580 HV is the secondary hardness maximum of the tools made of H13 tool steel (hot-working steel, X40CrMoV5-1). During the experimental tests, the shoulder and probe exhibited varying wear and geometrical deviations. The investigations were carried out with a force-controlled robotized welding setup in which AA-6060 T66 sheets with a thickness of 8 mm were joined by weld seams up to a total length of 80 m.