As far as engines are concerned 30 seconds warm up before driving/riding is plenty. After that take it easy (no thrashing) until the engine is fully warmed up.
The reason being that when cold, modern engines automatically run rich, this added fuel washes away/dilutes the oil in the cylinders causing more wear. An idling engine will take much much longer to warm up than an engine under load, and so will be running rich for longer thus having the oil washed away and ultimately causing more wear than just getting on and riding it gently straight away would cause.