Question: I have a concern of using GPL v2 and GPL v3 licensed software in commercial production environment. I would like to use HaProxy as a load balancing solution. Is it safe against copy-left? I won't modify anything from source code and the architecture of the system requires the use of a load balancer.

It will be embedded in a larger distributed system. So what we sell is the whole system. On another site, we will need to install the load balancer again and could mix with something else. I think it's the "Distributing" term which is confusing me.

Answer: 
Another point about the title of your question "Can I use GPL software binaries in commercial environment?" : yes you can and you're even encouraged to do so. The more free software we'll have in commercial environments, the less hassle we'll have to fix issues in production !
If you're not modifying the source and using the binaries, you should be entirely in the clear.