You want to look for the analog input terminals in the wiring diagram in the manual for your VFD. I believe the VFD you have, the XSY-AT1 has three terminals that will accept an analog voltage to adjust the speed. These terminals are:
COM or ACM - this is where the ACM from the controller will connect
VI/CI - The AVI will connect to this terminal which is the actual voltage level that will determine the speed from 0 to 10V.
10V - This connects to the 10V terminal of the controller which will provide 10V to the controller allowing the top voltage reference for the controller. This will provide a 0 to 10V range for the AVI or VI/CI terminals, and if 5V is available on the VFD, then the range will be 0 to 5V.
The parameter you need to change in the VFD is P10 which will change the source of the frequency, either the control panel which is the default (0 or 1, keys or potentiometer - dial, if that is available on the VFD), External analog signals which are the ACM, VI/CI and 10V/5V terminals in the VFD, or the RS485 which is a serial connection to the computer. You want to set this parameter to the External terminals which may be 2, but check your manual for the proper value.