I've had to run mines for about 30 mins to clear it, depends on what kind of mood it's in.
Idle speed from memory is about 750 rpm with engine hot. It may be higher if ECU detects high electrical loads eg battery down, air conditioning on, heated rear screen etc.
BTW you should put as much elecgtrical oad on as possible when you attempt a DPF regen, it helps the engine get up to the higher temperature required.
2015 Antara Exclusiv 2.2 163ps Manual 2WD