Change them every 2 full years. You change them with power on to retain the settings. If you do it with power on, prepare your machine and yourself to change it easily, don't rush it. Get your translite off the machine, use a step to reach it easily and be careful when you do it.
I done it last year on my 3 machines and nothing happened. Only thing is that I could had changed them on power off, because I messed a lot with pinball browser and when you update, you lose your high scores...unless you write those manually on the PB software itself before updating.