I believe the manual says idle should be around 1000-1500 rpm. My bike is happier around 1500-2000 according to my tach (Wich I believe to be inacurate anyway).
As for idle time, if you;re going to let it sit there and idle, it's always a good idea to have a fan blowing on it. I don't think there is any specific time limit that you should not exceed. It all depends on the bike, the weather, and whether or not you're about to herad out on a ride or not (Giving it a couple of minutes to warm up before you hit the road or what not.)
Not much of an answer, but I hope it helps a little bit.