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After 77K miles, I'm replacing the original brake pads on all wheels of my 2005 Acura TSX.  How do I tell if the rotors should be replaced or machined?  The brakes don't pulsate and the groves in the rotors don't look deep to me, but I have no experience judging this.  Thanks in advance.  

If the rotors on the TSX is original since new, then 77000 miles should be a good time to replace your rotors. You don't have to get dealer rotors, its just a plain metal disc. I don't believe Honda rotors are that expensive to begin with maybe $40 per rotor? Versus after market rotors may run you $20 per unit. The rotor replacement is usually a good practice when replacing brake pads. Rotors may sustain heat damage, rust over time. Sometimes its not obvious.  

great post rick...

the rotors wear faster on the outside of the wear area... than close to the center... so they end up looking like this in the cross section.../ \   this is more  than is actually there..

the brake calipers are parallel... the pads are parallel... if the rotors have taper..  the pads will hit at the center.. and not touch to the outer area..  this makes the brakes soft or spongy..

calipers ] pad ] / rotor \ [ pad [ caliper   you might be able to visualize it now...

this is what it should be...

calipers ] pad ] | rotor | [ pad [ caliper    

depending on the thickness of the rotors.. they might also be turned/ resurfaced by a brake or machine shop..    when done .. they should be really smooth ..   without any grooves like a vinyl record..