I did a search, but couldn't find any specific how-to instructions...

I'm replacing both pads and rotors on an 02 A6.
Is there any particular trick to replacing the rotors?
I assume I just unbolt the calipers and the rotors should come right off?

Anything I need to pay particular attention to?

 

Yes, rotor slides off. Unless it's a rear rotor, there you might have to pull it because parking brake is holding in from the inside (or not, I'm not really sure how audi is made)
Make sure you replace the pad sensors as well.

 

I pulled the wheels and looked, and to make sure I ordered the right parts...

The rear rotor does seem firmly mounted (with the wheel off)...it wasn't immediately apparent what was holding it on, but I haven't pulled the calliper yet.

There are only pad sensors on the front pads, is that right? I think they came with/on the new pads, but I'll double-check...

 

I have a 1988 BMW E30, and it has rear disc brake and drum parking brake. The way it's done is that inside the middle of the disc rotor there is actually a small parking brake drum. Just like the normal drum brake but it's also a disc on the outside. So... Audi is a German car as well, I assume it's done the same way (I own my car for 2 month, with more important engine repairs didn't get to do any brakes yet. =) You'll be able to remove it easy as well, just prepare to apply some force.

Also, you do have an allen sockets for the brake calipers?
And pad sensors are usually installed: one on front drivers wheel and one or passengers rear.

ps/ you might need to get a repair manual. you can deffinatelly do small things like brake without it, but it will be usefull when you'll start doing bigger stuff.

 

Pad sensors are only on the front for the Audi A6. I don't believe we have the combination drum/disc rear brake, either. Your disc may just be seized to the rotor. You might need to give it a few whacks with a mallet to free it up.

 

Slide hammer or large puller (from autozone) will be better.