Sprinklers are usually measured in Precipitation Rate (PR). The units are Inches/Hour (In/Hr) and it varies for each sprinkler model, nozzle, and water pressure.
For a quick example, a sprinkler with a PR of 0.5 in/hr would take 120 minutes to put down 1 inch of water.
You can determine the PR of your sprinklers by either looking up there data online, or, doing a Catch Cup test.