Fortunately you should not have to change anything in the VFD, for the speed control, wire a 5~10k linear pot, outer ends across the common and 10v, the centre slider would need to be wired to a small single pole double throw relay, the common contact would go to the analogue input, the other two contacts would switch between Mach signal and the pot slider.
How the FWD REV inputs are fed or taken care of at present will depend on how the manual control can be implemented.
IOW, is Mach controlling a couple of relays for the VFD run?
Al.
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.