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Pulse waveforms for 60 GHz impulse radio (IR) communication systems are investigated. The power spectral densities of the pulses are examined for compliance with Federal Communications Commission (FCC) spectral regulations. The error probability and capacity of M-ary pulse position modulation (PPM) 60 GHz IR systems with a correlation receiver using different pulse waveforms are analysed. Both orthogonal and non-orthogonal PPM is considered with additive white Gaussian noise and IEEE 802.15.3c channel models. Analytical and simulation results are presented, which show that an autocorrelation function that decays quickly provides a lower probability of error and better capacity. Among the pulse waveforms examined in this study, the truncated sinc pulse is the best in terms of compliance with FCC regulations and the PPM error probability and capacity.