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As a rule Tube is in imperial and talked about in terms of OD.
Pipe is metric and talked about in terms of ID.
So 2" tube will have a 2" OD where as 40mm NB Pipe will have an ID of 40mm and usually has OD of 48.3mm (if med wall)
A few of the newer benders are sold with metric only dies as they are sold to the roll bar market and most fab guys use tube for roll bars which is 2" OD
So in short unless you use very heavy walled pipe (5mm) then you will either have to make shims for your dies to offset the smaller OD of the pipe or use tube.