I have no special knowledge of VFDs, but I searched around a bit. If you go to this product page, you will find a wiring diagram for a VFD that has the same labeled connections as in your picture. As for setting the speed from your control board, I’ve seen a couple of posts on the subject on this forum. The problem is that the output from your CNC control board will be either a 3.3V/5V PWM signal or a 12V/24V PWM signal, and your VFD is expecting 0V to 10V on the connection labeled VI1 (the connection used by the potentiometer in the image). I write 12V/24V because the usual place to get the higher voltage PWM signal will be a fan pin, and the fans on most boards run on the same voltage as the motors.
Here is an area in one topic that outlines a circuit to make the translation with some discussion. At a quick glance, it looks like the circuit is using a 12V output from a fan pin to drive the VFD.
I have to agree with gareth that there is likely a number of settings that you may need or will just find useful that you are only going to find/understand with some sort of manual.
Edit: I looked around a bit more. In addition to a DIY circuit, this module is referenced for converting a 5V PWM signal to a 0V to 10V output. You need to feed it 12V (perhaps from your control board power supply), and you will need to tie the ground connection of the control board and the VFD together. A search for " PWM to Voltage Converter Module" will find this module from a variety of sources at different price points.