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Let's start with what the rules say. Technically, the coach is only allowed on the field during a charged time-out or an officials time-out that allows an authorized conference (i.e. TO between quarters, after a score).
In practice, I will let a coach a step or two onto the field to give a play call to one of his substitutes or players as long as he and the rest of his team are back off the field and out of the box when the ball is live or about to become live. If the coach is out to the numbers, he can expect to get a sideline warning.
I am more than willing to work with the coach if he is willing to work with us. As soon as he starts to abuse the privledge things will tighten up.
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