How exactly do you use motor6d? How do you animate things such as a door using the animation editor?

Basically I have an E to open door script but I want the doors to open legitly, I tried to rotate the part but I can't figure out how to get it to rotate around a certain point, I decided it would just look much cleaner and easier to use animations however I'm a huge noob when it comes to motor6d, and animating in general. Can someone provide an in depth description of how exactly motor6d works, how to use it, etc? I cannot find any good instructions on how to use them exactly.