Cusser
+1y
Mazda recommends every 97,000 km, or 60,000 miles.
I have 192K miles on my B2200, and I've changed it very close to that schedule. At 120K and 180K miles I also changed the water pump while in there, was leaking, why I decided it was time to do the belt.
If you're really cheap, and really lucky and can predict the future, then the answer becomes: just before the timing belt breaks or slips a cog.