Negative commandment · Lo Ta’aseh #82 of 613
Not to offer any [undesired] incense offering or any sacrifices on the golden altar
שלא להקטיר ולהקריב במזבח הזהב
The verse · Shemot 30:9
לֹא־תַעֲלוּ עָלָיו קְטֹרֶת זָרָה וְעֹלָה וּמִנְחָה וְנֵסֶךְ לֹא תִסְּכוּ עָלָיו
“You shall offer no strange incense on it, nor burnt sacrifice, nor meal offering; neither shall you pour drink offering upon it.”
The Rambam’s words
Not to offer any [undesired] incense offering or any sacrifices on the golden altar, as [Exodus 30:9] states: "Do not offer any unauthorized incense upon it."
שלא להקטיר ולהקריב במזבח הזהב, שנאמר "לא תעלו עליו קטורת זרה" (שמות ל,ט).
Who & when
“And this commandment to only bring incense on the gold altar is practiced at the time of the [Temple] by priests.”
Where in the Mishneh Torah
Hilchot Vessels of the Sanctuary and Those Who Serve Therein הלכות כלי המקדש והעובדין בו