The short answer is no.  However, throughout Scripture, we see the precedent that work is good; it is to be done with all our might, yet it will be marked by difficulty and grief (cf. Gen. 2:15, Ecc. 9:10, Gen. 3:17-19).  We also see that God, in His good plan, has designed and instructed us to rest (cf. Gen. 1:31; Lev. 25).  The need for rest was intended to give God’s people regular and repeated experiences of receiving from Him refreshment and provision so that they would not trust in their own labors for survival or security.
Consequently, while a pastoral sabbatical is not biblically mandated, it seems wise for a congregation to exercise sabbatical rest for their pastors.  This practice releases pastors of regular tasks in order to take up a prolonged time of beholding the greatness of God and His redemptive work, which will lead to fruitful endurance for the church as a whole.