You need to set it to the DC range, and on the 20 volt setting. That will allow you to measure voltages between 0 & 20 volts. If you did measure anything higher then I suspect the display will show OL (overload) and you would then need to select another higher number until the OL message disappears and the measured voltage appears.
If you wanted to measure the current being drawn then you would have to connect the meter in series with the motor electrics. That would entail disconnecting one of the two wires from the motor and connecting one probe of the meter to the motor and the other probe to the disconnected wire. You would also need to change the range on the meter to DC amps.
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