Hi Demo.
I’’m yet to find an Apple resource that documents this behaviour/functionality. This is knowledge borne of extensive interface/device testing and debug.
There is a myth, often promulgated here, that is impossible to switch-off an Apple Pencil. Clearly, there isn’t an “off” switch or “shut-down” option in iPad settings - however, engineering tests of the first generation Apple Pencil demonstrate that it is possible to return the Pencil to its shipping-state. In this state, battery discharge is not entirely eliminated, but is substantially less that it would otherwise be the case when idle/paired.
It isn’t possible to demonstrate that the Pencil is “off” without turning it back-on through re-pairing (it’s the age-old refrigerator light paradox). However, charging a healthy Pencil to 100%, prior to the “soft” shut-down, experimentally demonstrates that diminution battery charge is significantly reduced to the level anticipated for self-discharge.
To date, I’ve not conducted structured tests to determine an absolute ‘set aside” time; as such, I simply recommend leaving the Pencil undisturbed for few hours as the accelerometer is sensitive to any movement. Tests have shown that a healthy Pencil, initially charged to 100% and subsequently shut-down as documented, can be left for many weeks with only 1-2% diminution of charge when subsequently re-paired and reported battery state verified. By comparison, a paired/inactive Pencil will lose charge at 1-2% per day (if not more).
Testing has also demonstrated that the rate of idle discharge is much greater following update of the iPad from iOS12.x to iPadOS13.x. This is believed to be due to a significant change in BT/BTLE Radio utilisation - and consequent interaction with the Pencil - in iPadOS.