If you google it, there is a lot of talk about IS and tripods, particularly concerning the Canon 100-400L, probably because it is so popular but also has one of the oldest IS systems currently in use.
A lot of the information is confusing too (a bit like my post above

). Such as does this lens have tripod sensing, or partial tripod sensing, or not? And when you should turn IS off, or not. There doesn't seem to be any hard and fast rule. Some more reading here, including a bit more from Chuck Westfall I think (even though he's not credited)
http://www.wildaboutbritain.co.uk/f.../8254-use-canon-100-400l-lens-and-tripod.html
Checking my own 100-400L (about two years old) when the IS is first switched on it moves about a lot, easily visible, for about one second. Then it settles down but there is still quite a lot of movement for another five seconds. If the camera is then absolutely still, there is very little movement from the IS mechanism but there is some, plus the occasional slight twitch. For long exposures, definitely turn it off.
For higher shutter speeds with a tripod, the IS is sometimes a benefit, sometimes not. I think CT's suggestion above is probably a good rule of thumb - if you have your hand on the camera for whatever reason, use IS; if you don't, switch it off. Of course, if your lens
does have tripod sensing, it will look after itself automatically.
Edit: Chuck Westfall writes a very good monthly column on technical Canon stuff, here
http://digitaljournalist.org/issue0912/tech-tips.html