The site above will tell you how to make measurements.
IMO there is no point making measurements unless you know what you would expect to measure. Otherwise you cannot interpret if the measurement is correct.
You therefore need to have at least a basic understanding of electric circuits.
In the central heating I would expect that you would mostly be using the AC Voltage range. This would allow you to check if there is a supply at a particular point (across the terminals of a pump, for instance).
You can then say, with some confidence, say that the pump is knackered if you measure the correct voltage and the pump is not running.
Your issue is when you measure across the pump terminals and there is no voltage. You will then need a circuit diagram and apply some logic to determine where the problem may be.
It a logical process, something like this:
Is there power coming into the wiring centre
Is there power going to the programmer
Do you get power when the CH and/or DHW is selected
Does that power operate the valve
Does the valve's output contacts operate so you get power to the pump
So you'll need to read up on electric circuits as well as how to work the meter.
Pull up heating Plan diagram from the honeywell site and see if you can work through it, on paper. You may then be able to apply the principles to your home system, using your meter