Yes! there is!
Often rotors wear down due to filler material in cheap brake pads. If your rotors have deep groves in them instead of a fairly level surface, you're probably going to need to get new rotors.
If your brake pedal pulses when you stop, you may have warped rotors. This happens most often when you ride the brakes on a long downhill run.
If you've done a lot of stop and go driving, and been through a few brake pads, it's also likely that your rotors have worn thin enough that they are no longer safe to resist the heat generated by the friction.
Also, if you see cracks or fringing on your rotors, they are definately going to have to be replaced. This happens when they overheat and the metal begins to fragment.
Being that your car is a 2000, I would say new rotors would be a good idea anyway.
Generally rotors aren't very expensive, and if you're having your brakes replaced as well, it's not much more work to replace the rotors.