It depends on your set-up.
A quarantine tank with paper towels as substrate should be changed at least every other day. I change mine daily.
A regular Eco earth substrate floor should be changed every month, or sooner if has a foul odor. It should smell earthy and clean.
In a false bottom tank (eggcrate, layered, or hygroton) you can change the substrate less. I change mine every 4 to 6 months.
Spot clean any visible feces daily and change the water bowl water daily.