This is not something that is set on the phone directly.
If the Rogers voicemail system supports this setting, you may be able to configure it from your phone but still, this remains a carrier setup issue. You would probably benefit from contacting Rogers support and ask them if the length of a voicemail can be limited.
I just called tech support and this is not available with monthly plans either (neither basic or enhanced VM plans). If you think about it why would they limit it - they are in the business of charging for airtime - they wouldn't want to make it convenient for customers now would they!