When using the summon command

/summon x y z {TileX: x, TileY: y, TileZ: z, Direction: #, Item: {id: "_ID_"}, ItemRotation: #}

one can only specify the ItemRotation by 0-3.
0 = Right-Up // 1 = Right-Down // 2 = Left-Down // 3 = Left-Up
(You can also use 4-7, 8-11, etc. but that will do the same as 0-3.)
There is no way to let the Item in the Item Frame be rotated up, right, down or left.