How to have to unluck only after 5 minutes?

[AC Question]

I got a new Samsung Galaxy S6 and the fingerprint scanner works great. But I would like to only have to authenticate myself after the phone sleeps for 5 minutes. I used to just have to swipe when I had the phone in hand just a short moment ago.
To have to use the fingerprint scanner each time even after just seconds of sleeping is a little annoying.
I cannot for the life of me find that setting though.

 

[Almeuit]

It should be in the security settings. There is a "Lock after timeout" (or something like that) where you can change how it locks.