UR10 placing orientation

Hi, I have to do pick and place task using UR10 bot, Now I can pick and place an object from one place to another but I want to do it in such a way that, say I picked an object at some orientation [x y z] then I place it at some position but at orientation [x y z+some value] (i.e. rotated about z axes).
How can I do that? I have seen there is something called end effector orientation offset, but that doesn’t work. Any help would be appreciated