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And, you may cause errors in the electronic systems.i know what happens if you remove a lens from the camera while its
turned on...you collect a lot of dust on your sensor, as it has a
high static load while its on...
Recently Roger of Lens Rentals warned that for a Canon 70-200mm the VR needs to be turned off on the lens before removing it from the body to put the movable glass in its proper resting place.When you half-press the shutter to engage VR, it releases the floating elements. After you take your finger off, you hear a click that is the sound of the VR locking back up again. If you disconnect the lens while the VR elements are unlocked, they will remain that way and could get damaged. That's the main reason for all the warnings. If the lens is mounted, but you aren't holding down the shutter button to engage VR, this isn't a concern. You should still turn off your camera every time you mount/unmount a lens though. You can cause electrical problems that are costly to repair (even though they are probably kind of unlikely).
If your question is whether you have to manually turn the VR switch to "OFF", you don't. The instructions are sometimes vague about that. Just make sure you give the VR a few seconds after taking a picture until you hear it click off before unmounting the lens.