First of all I would recommend a "Revolute Joint" instead of a "Cylindirical Joint". A cylindrical joint can also move linearly along the rotation axis, which is most likely not what you want. A revolute joint does only rotation.
Secondly, it is not possible to directly provide a velocity. But you can provide motion according to your desired velocity, because position s(t) is the integral of velocity v(t):
Simply integrate your desired velocity and you get the according position.
If you have a constant velocity you can also directly use a "Ramp"-Block and enter your velocity as the "Slope" value.
Revolute Joint Settings:
- Actuation > Torque > Automatically Computed
- Actuation > Motion > Provided by Input
- Filter input, derivatives calculated
- Second-order filtering