Sefer HaChinuch ספר החינוך

To not eat meat of [the sacrifices] that has become impure: That we do not eat meat of [the sacrifices] that has become impure, as it is stated (Leviticus 7:19), “And meat that touches anything impure shall not be eaten.” And the same is the law for an impure man, that it is forbidden for him to eat meat [that is] pure — and as we will write (Sefer HaChinukh 167) in a separate negative commandment, with God’s help. And in the second chapter of Pesachim 24b, they said [that] impurity of the body is with excision; impurity of the meat is with a negative commandment.

That which we have written above that we were commanded to aggrandize matters of the sacrifice in every way is from the roots of this commandment. And it is certainly from its loftiness to only eat it in purity and with a clean body. And we have already written the reason of what is the benefit for us in its aggrandizement (Sefer HaChinukh 103).

From the laws of the commandment is, for example, that which they, may their memory be blessed, said (Makkot 14b) that it is forbidden to render [sacrifices] impure or to bring about their impurity. But one who makes them impure is not lashed. Rather it is the pure one who eats them that are impure that is lashed — from that which is written (Leviticus 7:19), “it shall not be eaten.” And even though this verse was about the inauguration, the law is the same for all of the other sacrifices. And even one who eats a kazayit of frankincense from the meal-offering which became impure after it was sanctified in a vessel, is lashed; as it too is a part of the sacrifice. And the liability only comes with becoming impure [from] a primary source of impurity or its derivative by Torah writ. But on account of rabbinic impurity, he is not lashed [by Torah writ], but we do administer rabbinic lashes of rebellion upon him. And the rest of its details are in the thirteenth chapter of Zevachim.

And it is practiced at the time of the [Temple] by males and females. And one who transgresses it and volitionally eats a kazayit of sacrificial meat that has become impure is lashed.