I pay $9.95 per trade, and have set a personal $2500 minimum buy level for stocks and $5000 for bonds. This approximately has the fee paid for by the first three months of dividends.
As for minimum value to hold, I planned to have enough in each holding so that the distribution will be enough to DRIP reinvest into another unit without incurring a trading cost. For example, I had $4700 in one account I wasn't able to add funds to (an old locked in pension), so I selected the ETF that had a higher distribution twice per year instead of quarterly. That way, ~$27 gets DRIPed for free every six months instead of $14 cash every quarter that I would have to pay $9.95 to reinvest.