Which part are you stumped on?
Look at page 17, Two Wire Start Stop Control, of the Leeson manual. Then look at the generic VFD drawing from the Centroid documents.
The Analog VFD control from the Centroid connects to terminals 5 (+) and 2 (-)
You only need to relay output from the Centroid to run the VFD, Terminal 1 RUN (forward), and Terminal 13A (Reverse), connect the Signal Input Reference (common) as shown on the Centroid drawing.