The Rotation dialog (Edit menu > Edit > Rotate) has a field that lets you define the axis end as a Plane (XY, YZ, XZ) according to the Robot program settings. The axis beginning is likewise defined in the 3D view.
The axis end is set automatically. It is the point at which a line perpendicular to the selected plane and passing through the axis beginning crosses the selected plane.
You can enter the end axis coordinate or node number in the dialog.