we would be at about $850 for that. And that is light. How heavy is the fixture? Box rated for it?
Figure in all your time from the shop (getting the ladder) to the job and back (drop off the ladder)
Don't forget to account for any damage to the wall, floor or counter top that you may cause and need to fix.
Plus, you'll probably need a second ladder set up for your helper to hold the fixture while you install the canopy.
I'd look to sell here on a chandelier(sp?) lift and explain to here what it will take otherwise to change lamps and clean the fixture.
Oh, and don't forget the dimmer (if there is one, make sure it's large enough for the new fixture- otherwise sell her one.)
Don't worry about what homeowners expect. they don't know what to expect other than to think that we should work for $50/hr and only bill for the exact minutes that we are in their house.
Even if you did bill $70/hr/man - you get $140*5=$700.
Add in equipment fees (ladder will need to be replaced at some time) and aggrevation. And you are at $850.
Keep the ladder, charge the right price and make money. You own the ladder, it doesn't eat much, let it sit in the corner until you find a customer that will pay your price. Do the job, make money, then put the ladder back in the corner.
Good luck.
EDIT: Ironically, this morning I had to go look at a customer's house who wants to install 2 light fixture in 2 different rooms on 18 ft ceilings. I quoted a total price of $1600 to install the fixtures, a medallion on one and 2- 1000W dimmers. I don't know if they will go for it or not, but I do know it will take 2 of my guys all day to do it. If we aren't doing that job, we'll be someplace else making that money. So why take the job for less and lose the money?