Depends on what your doing or should i say what you want to achieve.
Imo light weight + high reps should have relativly little recovery,say 30-60 secs.
Heavy weight + high reps should also have short recovery but longer than the above,say 1-2 mins.
A "quality" session imo should consist of max weight + low reps but plenty of recovery,anyhting upto 5 mins and increased weight on each set.
TBH i dont theres there any rule to recovery time,more so go on how you feel so as not to injure or rep fail when you not supposed to.