It's a good question and I think could be asked about manual GTAW also.
I've never written an SMAW WPS but I do have an AWS authored SWPS right here (ANSI/AWS B2.1.001-90) which is totally silent on voltage.
We all know that in Constant Current processes (SMAW GTAW) the voltage varies with arc length, but in manual operations a real time measurement for arc length would be more accurate than prescribing a voltage that will keep an arc length near a certain stated length.
Having said that, I have been involved in Semi-automatic GTAW procedure qualification that required very strictly detailed Arc Voltage parameters n because the Sciaky welding unit used an adaptive feedback control which linked Arc Voltage to the servo that controlled the arc length via the torch head on the Z axis. For this procedure the Electrode type and prep angles were also essencial because a slight change could affect the arc voltage and send the tungsten up into the air or down into the work :)
For manual work though, It seems right to discuss if/why arc voltages are/should be required.
What say others?
My understanding for D1.1 is that voltage and travel speed are N/A as non-essential variables. That is how I write my SMAW WPSs for D1.1.
D1.5 is a bit more clouded on the matter.
Basically, voltage and travel speed are N/A with the bridge code. However, many times I can't get my WPS approved if I leave those out. Customers want to know the heat input to expect from the WPS; mostly to assure there is enough rather than too much. We all understand that if you turn up the amps with SMAW the heat input goes up too, but sometimes welders might run fast travel speeds which puts the heat input too low as well as the weld size. Check out D1.5 Table 2.1 for minimum size of welds and note that those must be single pass (the notes provide some exceptions). Some customers have higher restrictions. For that reason, the volts and travel speed parameters are normally listed on the SMAW WPS even though they are not essential variables.
D1.1 has some limits in Table 5.8 but those are not quite as restrictive. The general thought (I believe) is that you must be getting enough heat input if your amps are set per manufacturer's recommendations and you weld profiles are acceptable with thorough fusion. That is based on ---what? 100+ years? of SMAW welding.
Chet