IS/VR should only be active when your focusing, so as long as you don't try and focus when your taking the lens off it should have no effect whatsoever. For the record, I've never turned mine off when removing a lens.
Best just to turn the camera off. This also is best for helping to keep the sensor clean. When the camera's on, the sensor is charged and can attract dust and other nasties!
I thought the only time that VR should be turned off was when connected to a tripod?
surely it works using the power from the camera, so, turn the camera off when changing lenses and it won't be an issue, and as pointed out above, cuts down on it attracting dust!
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