The 'Angels' hitmaker - who first quit the band in 1995, a year before they split, but returned in 2010 for their 'Progress' album and tour - won't be joining Gary Barlow, Mark Owen, Jason Orange and Howard Donald when they next go out on the road because he wants to spend more time with his family.
Robbie - who announced earlier this week his wife Ayda Field is pregnant with their second child - said: ''Logistically I can't do it. I have the tour and I'm going to be a dad again.''
However, the 40-year-old star - whose 'Swing Both Ways' tour started in Austria on Monday (28.04.14) - insists it doesn't mean his time with the 'Flood' singers is over for good.
He added to The Sun newspaper: ''It doesn't mean to say I won't join in along the way. Whatever happens, I am absolutely going to be in Take That -- I love being in Take That.
''After [my] tour wraps, I'm going to go away for a year or two.''
Gary previously admitted Robbie - who also has a 20-month-old daughter, Teddy Rose, with Ayda - had been given a deadline to decide whether to return to Take That.
He said: ''We need to know what we are doing by the end of May.
''The thing is with Robbie is that he is a family man, so whether he will be in the final line-up I'm not sure.
However, he also admitted the 'Candy' hitmaker would have some involvement with their new album regardless of his decision to tour or not.
He added: ''If he's not back in the band, he'll write on the record and we will work with him on his next record.''
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