You will want to buy the keypad for it sooner rather than later. An inverter you can't program or troubleshoot is less than worthless.
If for some reason that is impossible, you could replace it for about $350. How much is your time worth?
That said, assuming yours is programmed in a more or less default configuration, you can probably just use the diagram in the manual (section 6.3 in the copy I found online):
Close SD to STF to run forwards.
Close SD to STR to run reverse.
Close SD to RES to reset faults.
Apply 0-10V analog speed reference to terminals 2 and 5 (analog output to 2, common to 5).
The Fault output (wired to a PLC input so you can detect when the inverter faults) would use either A and C or B and C, depending on whether you want a normally-open or a normally-closed fault signal. You probably should use normally-closed, which is probably B and C.