We would always Recommend Insulation board to be used on any type of subfloor as will help improve the performance of the system.
rough warm up times are as follows,
Uninsulated concrete - 3-5 hours (maybe longer depending on base thickness)
Insulated Concrete - 2-3 Hours
Timber - 30-60 Mins
Thermopanel or Ekoboard - 15-30 Mins
European standard IEC335/EN60335
recommends for safety that no more than 100W/m2 is installed directly on a timber floor and will only give you a 'Warm Floor' effect.