If it’s 0-10V it’s probably analog, and you can get cheap PWM to analog voltage converters from the usual suspects. ( https://www.amazon.ca/Baoblaze-High-quality-Voltage-Converter-0-100/dp/B07CNRWB2C). The ones I got from AliExpress can accept a wide range of PWM input.
You will need to set the min/max spindle speeds, some light unverified googling says $30 and $31 will set this. This will then control the PWM output for a given RPM and “map” it appropriately.