Control over your vfd basically involves five wires if your cnc controller is sufficiently advanced.

The functions you'll need to identify are basically Forward, Reverse, Common, PWM, and GND.  These five pins are easily identified for our VFD if you clean up the VFD wiring diagram:

The Forward and Reverse pins are digital inputs which requires some VFD programming codes but that's extremely easy to accomplish.

To specify DI3 is Forward, you'll program P2002=1.  To specify DI4 as Reverse, you'll program P2003=2.

Don't forget to program P0003=1 which tells the VFD to use terminal inputs to control Forward and Reverse.