I would really call it a set back from the face rather than a insertion length. Code requires weld with a throat of .7tn which equates to a leg length of nozzle wall, in round figures. Normally you would set the end of pipe back from the face tn plus 1/8" netting a 1/8 clearance between weld toe and corner of flange bore/face. The maximum set back is tn plus 1/4"
see section viii div 1 appendix 2 fig 2-4 (3)