Lawns do best with deep infrequent watering. This encourages a deep root system that is better able to handle stresses of heat and pests. Water every 5-7 days in the heat of summer. This may need to be adjusted a little based on soil type (sand more often than clay) and sun exposure (sun more often than shade).
Each system puts our water at a different rate so we can't say water for "X" minutes. The better approach is to use coffee cans or other straight-sided containers to determine how long to run your system to collect 1/2 inch (sandy soil) to 1 inch (loam or clay soil) of water. Then you will know how long to run your system.
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