The required depth should be on the print. If it's not on the print, ask. If you can't get an answer, I'd suggest 2X diameter. As ornerynorsk says, ther is no standard. Since the tapped material is usually softer than the fastener, 1.5 diameters is minimal engagement. The fastener could be too short for 1.5 diameters engagement. 2 diameters gives a little more leeway.