Pick and Roll Rule

[ATXCoach]

I vaguely remember reading on here or hearing somewhere that it was a POE for officials to call a foul when the screener rolls into the defense attempting to go around the screen.

Had a call against me today where the official stated that the screener couldn't roll in the same motion as the screen. I disagreed with the call as the defense simply switched the screen, so the roller in no way impeded the defense from guarding the ball.

Can someone give me a brief summary of the rule so that I can better understand?

Thanks in advance