Provided your charging system is operating normally (and you don't have 500 watt electric chaps), yes the battery will stay charged. You don't need to run extra RPM for the battery's sake.

Whether or not the bike (charging system)will be fine is another issue. According to Honda, riding an '04 or '05 CBR1000 at low RPM for an extended period can cause problems. What's low RPM?2000? 3000? I wish Honda would tell us more, maybe they don't really know. I commute all the time on my bike and typically run 4000-5000 RPM. To me 4000-5000 RPM for extended periods seems fairly safe, but again that's just a guess.

 

I not had a prob with my stator at all But Before I had my bike a Year It did not want to start. I took it to the shop and had it looked at. and it was not the stator(thank god). Just my battery would not hold a charge anymore. Now I do live in Florida and FLorida does know how to really put a load on a battery. It does seem to kill batterys here more then up north. Since I changed my battery to a top of the line battery I have never had an issue again with it. Unless I left the lights on to long when I shut the bike down or so on. As far as the charging I have found Even at Idle I was able to get a little bit of a charge enough for like 1 start. But yes it does charge better and a little higher of an RPM.