This is not a question with a simple answer, because the response depends on the type of sprinklers you are using and how they apply water.
The goal is to get 10ml of water to your lawn/garden each time they operate so different nozzles will require different run times. For example regular pop-ups can be run for around 12 minutes to apply 10mls.
Toro precision nozzles need to be left on for around 25 mins to get the same result. Then there are the MP Rotators which need 45-50 mins to deliver 10mls.
There are specs for each type of sprinkler available from the manufacturers or your retic guy can help you make sense of it. Here’s an example of how to find the answer. The chart shows that PGP needs to be on for 60 mins to apply 10ml.
The important thing is to remember that not all sprinklers deliver water at the same rate.