Heya,
I don't know if you're after an exact time in seconds, but the answer is yes.
It feels to me like 5 minutes or less.
Despise Baracoons for example, you have to wait for the gate to go, then you can resummon when the gate has gone.
Stygian Abyss Mini champs, it takes a few minutes for the level 1 mobs to start re-appearing. It's not a long wait though. I usually get time to run round a bit looting the final level stuff I didn't get to loot.