Some warriors of the Warhammer world use lethal toxins to envenom their weaponry. The Dark Elf Adepts of Khaine and the Skinks of the steaming jungles of Lustria are among the most infamous Also remember that substances that are innocuous for some races may be lethal to others, as the pure water blessed by powerful priests is to the Undead.
A warrior with poisoned attacks will wound his target automatically if he scores a 6 when rolling to hit in either the shooting or close combat phases, or sometimes both (see the model's entry in its Army book for more details). The dice itself must score a 6 - a lower number increased by modifiers to a 6 does not count. Armour saves are taken as normal, modified by the Strength of the attack.
If the poisoned attack needs a 7+ to hit (in the case of ranged poisoned weapons), the rule has no effect. If you do score a hit, roll to wound normally.
War machines (but not their crew) are immune to poison. A few other troop types can be immune to poison as well, but if this is the case, it will be clearly defined in their Army book entry. Chariot models, because they include many elements that would be vulnerable to poison (crews, steeds), are not immune to poison.