Not 100% sure of your application, but I guess you’re machining or engraving on the surface of a cylinder???
The cylinder has a circumference, so you could scale the rotating axis units to match the circumference.
For arguments say your linear axes have 1000 counts per unit (mm for arguments sake) and your cylinder is 100 mm diameter, then it’s circumference is 100 x Pi = 314.159mm
If your motor moves it 1 rotation in 100000 counts then you would scale the C axis as 100000/314.159 = 318.31 counts per mm at that diameter
So
#1->1000X #2->1000Z #3->318.31C
Then you can use FRAX(C,X,Z) and any motion program move will be able to use F1000 etc. to specify the feed rate in any combination of those axes.
It gets a lot more tricky if you are dynamically moving at varying distances from the center of your C axis.