I am not positive on how you convert the motor specifications to the needed DC motor parameters in the Driveline example. There might be a set of theoretical equations used in this process, but most likely the values are chosen based on actual data from the motor. This is a video of one example of how to optimize the parameters based on actual data:
Rather than repeating information, I would suggest reading the descriptions of all these parameters in the MATLAB documentation. You can easily open the documentation for each type of block by clicking the Help button in the lower right corner of the Block Parameters dialog box. For example:
