I use a cookbook called The New Fast Food by Jill Nussinow to determine how long to cook beans. There is a chart on how long to cook about twenty types of beans, both soaked or unsoaked. I cook mine unsoaked. Also you can either quick release the pressure which the cookbook says is not recommended, or natural release, which I do. So that adds some time at the end of the cooking.
Black beans take 22 - 24 minutes, pinto 20 - 25 and chickpeas 22 - 25 minutes. I prefer mine fully cooked, so I always cook to the middle or higher number. The beans are fully soft and a bit on the mushy side.
Cannellini, Fava beans and Great northern have a longer time. Lentils ae 4 - 6 minutes, depending on the type. Let me know if you need a specific bean time and I can look it up.