Examples are valid for:
CB2 Software version: 1.8.16941
CB3 Software version: 3.1.18024
Note that older or newer software versions may behave differently.

From software 3.3 and in e-Series this function is added in script 'rotvec2rpy()' and 'rpy2rotvec()' for conversion between rotation vector and RPY rotation representations.

These examples can be used for both CB2 and for CB3.

This script has been made so that one can convert RPY to rotation vector and rotation vector to RPY. 
The unit is radian.

Program and script is attached.