Keeping things at a very high level...
TL
R WPA/WPA2 both roll keys, on the Group and Pair...
The author of the article is trying very hard to explain in a simple way, but they're perhaps over simplifying it, and this perhaps can confuse folks..
WPA/WPA2 Personal use a static Pre-Shared-Key (PSK), which is used to generate a Pairwise Master Key, WPA/WPA2 Enterprise use a dynamic key sent over by the RADIUS function... For Enterprise, the RADIUS sets the timer based on policies defined by the Radius Admin, whereas in Personal, you create the PSK, and you set the timer.
We generate a Pairwise Master Key - see above for WPA2-PSK - this is known by both the AP and the STA - it's never sent over the air - instead, there's the 4-way handshake, and a unicast PTK is generated and used, and it will roll on a periodic basis, or if that timer has not elapsed, it's deleted when the STA disassociates from the BSS...
There's also a GroupWise Key that is used for Broadcast/Multicast traffic, and that rolls any time a STA joins or leaves the BSS - or if STA's don't leave, or no new STA's join the BSS, the GTK stays until it's timer expires, and we generate a new GTK...
Doesn't matter whether it's WPA-TKIP, or WPA2-AES (or any combination) - Transient Keys, whether Group or Personal, should always rotate... That's why WPA/WPA2 can be a challenge to hack...
If an AP that is supporting a BSS explicitly tells the BSS that we're not rolling transient keys, this makes it very easy to get enough information that the PSK can then be derived...
We won't talk about WPS - that's a whole nuther ball of worms...