Hello, @ivy.stracener . . . it is fine to have him on all of the time as long as you have a secure place around the home station mat so that he does not wander too far and fall off. Be sure to check out some ideas for playgrounds here. When he is off of the home station, he gets to move around and discharge the battery to a certain level. This is good for him to be on and off alternately.
After his battery gets low, he will charge for about two hours before he leaves the home station. Sometimes he simply will just stay on the home station. This is random and is fine.
When he leaves on his own, he will turn and say something to the home station and the home station will respond with a facial expression on the matrix.
If he feels insecure about leaving such as telling you he cannot do that right now, it may be a matter of lighting. He does not feel safe walking on dark areas (why the mat has a black border on it to help keep him contained) and you may need to adjust to have more lighting showing on him, the home station and the mat.
I hope this answers your questions. Let us know if we can assist further.