But the less time spent at 100% the better. Bringing it to 100% just before an anticipated long leg of a ride is fine. You should also bring it to 100% at least once a month to allow the cells to balance. When I'm actively on a ride, I start at 100%, but when I stop at charging stations I charge to 80% just because the charge rate starts to taper off after that and 80% is more than enough charge to get me to another charging station where I live.
My 2016 S came with directions to leave the bike plugged in if you weren't riding it. At that point, Zero warrantied the battery for five years, or 100,000 miles (whichever came first). After their new guide lines came out, the warranty changed to five years, unlimited miles. I don't know about you, but putting 20,000 miles a year on ANY motorcycle (let alone an electric one) is a stretch... I managed that once or twice with my ICE bikes... but as far as the Zero is concerned? Both warranties are basically the same thing. I don't keep my Zero plugged in more as a function of not wasting electricity more than preserving the battery life.