Rotary Milling is the ability to perform 2D and 2.5D machining cycles around or on the end of a cylinder:

When performing radial machining (around the cylinder), the tool is restricted to moving parallel to and around the spindle centreline.
The tool is always oriented radially to the spindle centreline.
When performing axial machining (on the end of the cylinder), the tool's Z axis is parallel to the spindle centreline.
This example
shows a part with geometry created on an unwrapped envelope. The geometry
has then been machined in Planar mode
(using the M-Function menu command) with a driven
tool mounted radially in the turret:
This example
shows the same Machining Sequence but with the mode changed to Rotary: