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In what I will describe as normal conditions (not going up hill nor down hill) I keep the rpm's between 2 and 3,000 rpm's. Of course that's in-city driving. Think more about your rpm's than the speed you're traveling. For example, you could be going up a rather steep hill in 5th gear at 40 mph and be putting too much of a strain on your engine. Keep your rpm's above 2,000 and you should be fine.
It's a lot like riding a bicycle with derailleurs. You can be zipping along just fine in a particular gear but to maintain that same speed when you come to a hill you will put an awful strain on your legs if you don't gear down. Putting a strain like that on your engine is called lugging.
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