Mine is currently running for between 6 and 7 hours.
The more light you give the plants, the more nutrients they will require. If they're not getting these nutrients then health issues can arise for the plants, and in turn for your fish as the plants begin to rot/decay and pollute the water with ammonia.
Pick the time that is bet for you for your lights to be on constantly for the chosen number of hours. If no one is at home to turn them on at a set time then use a timer. The missus usually switches mine on at 3 and i turn them off at 10.