Characteristics of a successful on-cal rotation

Inclusive — Everyone who can do it, should do it, including VPs and directors.
Fair — On-call work should be remunerated in addition to normal working hours.
Sustainable — Enough engineers should be in a rotation to avoid burnout and avoid disruption to work-life balance or day-to-work in the office.
Reflective — Your team should constantly review alerts and pages to ensure only alerts that matter wake someone up.