Yes a vfd would be required, I got this from a UC300 manual, this would be ideal because the easiest way to control the vfd is via the 0-10v.

"The analog output 1. signal can be used for SP PWM (Spindle speed PWM), setting the
SP PWM checkbox assigns the analog output 1. signal to the spindle speed PWM
function. If this checkbox is set the proportional analog Voltage of the actual spindle speed
PWM signal will appear on this analog output pin of the device. The range of the signal is
0-10Volts"

You do need to know the parameters of the motor such as voltage, current, etc. can you get a photo of the motor rating plate ?