My personal rule of thumb: If the the soil is bare then there are too many animals - or they have been left in one spot too long.
I need to research this a bit more but I believe the problems that we have from 'runoff' - where animal feces contaminates
local water sources - is due to animals concentrated in areas where there is no vegetation.
So if I am correct then as long as the animals are moved while there is still a covering of vegetation then the area
should not be negatively impacted. The area can rest, and from what I have seen, grow back more lush than before.
I would love to see some more discussion here about run-off and the effect of overgrazing. I think it is a common problem that many of us are learning to deal with. Especially those of us with small pieces of property who are trying to learn how many animals that we can raise sustainably.