You must always machine the rotors when replacing the brakes pads. If you don't you can get squeaks, vibrations, pedal pulse etc. Replacing the rotors needs to be done when they are no longer within specs, which can be determined by measuring them with a caliper when they are off for machining. Based on my experience they can be machined 2 or 3 times before needing to be replaced, assuming you don't get metal on metal and gouges before you change the pads.