The longest you can keep the screen on from the regular settings menu while on battery power is 10 Minutes. You can keep it always on while connected to a charger if you enable Developer options. You have to go into Developer Settings to keep it always on while charging. To get to the developer settings Go to Settings > General > About Device or Phone and tap on tthe BUILD NUMBER 7 times. After you do that back out of and go back to General then tap on Developer options and check Stay awake. This only works while you are connected to a charger. I believe the screen turns off to prevent burn in.
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