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Yeah, 5-10 minutes for a warm-up is plenty to get your heart rate up and sustain it through your workout. You don't want to deplete your energy stores before going into a hard lifting session. Try upping the intensity of your warm up by increasing the incline and/or speed consistently every 30-60 seconds to get your heart rate up.
For straight up cardio sessions, you can try HIIT - basically going close to all out for 30-60 seconds, then walk (or rest) for a minute, then repeat for a total of 15-20 minutes. HIIT studies have shown great results for fat burn overall.
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