You can do it right away, just has he can hire a locksmith to let himself in right after that. Chances are you need remedies that are more potent than just changing the locks.
If he has moved out and you do not feel safe, change them now. If you don't feel safe, get a protection order and get the court's permission to change the locks (even if it's already done) and make arrangements to buy out his half of the condo.
If there are no court orders then you can change the locks at any time. But he can change the locks too. Since you both own it, you should try to reach an agreement on letting one person own it, or file suit to have the property sold.
You can change them any time you want; of course, since he co-owns the condo, he can do the same thing. So, if you want to be safe, you need to buy out his interest, then do it.
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