Create > Constraints > Generic Constraints prompts you with the following dialog.
It allows you to define a generic constraint at one or two nodes. If the constraint is applied to the same node, the constraint DOFs must be different. Constrained DOFs must be compatible: Q1 and Q2 must be both translational or rotational. Constraint factors must be non-zero.
A regular support and multi-DOF constraints may be applied on the same node as long as the support/constrained directions do not interfere with each other.
Multi-DOF constraint forces and moments are listed separately from the regular support reactions in the analysis results.