It's best to check with the maintenance manual for stuff like this, BUT you change the chain when it's loose and the sprocket's worn out.
What I mean by 'loose' is with the chain set at the proper tension, if you can pull it away from the rear sprocket more than about 1/4 inch or so, it's time to replace.
Sprockets wear quickly with a bad chain too, but it's harder to tell if their time is up though because the teeth could all be worn uniformly which makes it hard to know when it's time.
Some folk replace everything as a set, which I can't argue with.
A visit to the bike scrapyard should reveal what a worn out sprocket looks like - just replace yours before it looks that bad!
Was that not a pic from the Taffy Dakar Steve how to get the most from a front sprocket. a wee bit of mig work an a good file will stop the slipping have a good week end up there an keep an eye out for clive from Treens think he is off up there last minute kind of thing. he might be on the TTr as well think the rest of his bikes are all Enduro bikes bar the lx500 so he will have to ride it