Notification when door/sensor is left open for a certain period of time

I miss this feature from my previous alarm system.I could setup a timer, where I would get notified if a particular sensor was left open.E.g. if my back door was left open for a 1.5min I would get a notification and alarm tone on the base station as well in case I don't have phone in hand. Its very hand if the kids leave a door open and don't close after them. This should be applicable to any sensor and timer should be configurable.