Confused on Motor6D?

So I'm a bit confused on how to use the Motor6D joint. How do you rotate it on a specific axis instead of one axis? The wiki puts out his code:

local base = game.Workspace.Base
local part = game.Workspace.Part

local motor = Instance.new("Motor6D", game.JointsService)
motor.Part0 = base
motor.Part1 = part
motor.C0 = CFrame.new(0,0,1)
motor.C1 = CFrame.new(0,0,-1)

motor.MaxVelocity = math.rad(3)
motor.DesiredAngle = math.rad(360)

Im confused on how to work the DesiredAngle and MaxVelocity.