By day 10. I usually candle on day 5 and 7 though too just to et an idea of hoe things are going. I candle usually every other day, because it doesn't hurt them (unless you drop them, be very careful) and it really helps me learn. I also am concerned about any exploding and I can toss any quitters right away.
Depending on your candling skills, the quality of your candling light and the color of the egg shells, you may be able to easily tell as early as day 3 and definitely by day 5.