The problem that can arise by keeping a phone on charge is one of battery overheating. If it overheats too often the battery can eventually fail (starts to bulge, and you can spin it on a table). The danger of the S7 of course is that you can no longer take out the battery to check it, so it is a good idea to feel the back for heat when on charge from time to time if you do intend to keep it on charge for long periods of time.
If your phone drains quite quickly on normal standby (ie. it's doing lots of background polling and tasks), then it would be possible that overheating could occur when on charge.
Having said all this, all the Galaxy phones I've ever owned (S2, S4 and now S7 Edge) over the last 6 years, I almost always keep them charging overnight, and invariably when I am in work, they have been on charge all day long via USB cable to my PC, and I have never had a single battery related problem.