The frankincense censers were placed on the Table together with the Showbread each Sabbath. On the following Sabbath, when the Showbread loaves were replaced with new ones, the frankincense was also replaced. Once removed from the Table, the frankincense was burnt on the incense wood pile on the outer mizbeach. 
The Incense Altar
Contents:   Part I,    Part II,    Part III,    Part IV,    Part V,    Part VI,    Part VII