I believe the OP is talking about the main drain line as it enters the sump water level. Not the height of the drain line in the overflow box.
Basically it comes down to two things. Noise and back pressure. Ideally you want your main siphon lower than the waterline in the sump and this is to eliminate any noise from the water entering the sump. But too low into the water line and the water can create back pressure in the main drain which prevents the air in the line from escaping. If the air can't escape the main drain ends up getting choked and the siphon will not form.
Unfortunately, literally every system is different in this case, different drain sizes, designs, pipe length, drain run and volume of flow all play a role in this equation which is why there really is no one size fits all depth for the pipe to enter the water in the sump.
So to answer your question, no, there is no set depth the pipe has to go into the sump. Ideally the lower it is the quieter it is, but it needs to be short enough to prevent the issue I described above. If your pipe is 6 inches into your sump and the siphon starts with no issues, then your good to go