FWD and Ground would connect to the Relay this would have no power on the relay output this works just as a switch you may have to change some VFD Drive Parameters for this also
I don't see a PWM 0-10v output so you may not be able to do the speed control but you should be able to turn it On / Off with Mach3
If you have a meter you can check the Relay to and get that working before you connect it to the VFD Drive