The motor listed has integrated driver electronics - you cannot PWM its supply at all, that is going to cause all sorts of
problems. Don't do it.
The 5-wire version has an analog 0..10V input to control speed - that's how you can control speed, which means
you'll need to generate a 0 to 10V control voltage. You can generate 0 to 5V by passing a PWM signal through an
RC low-pass filter.
Direction is via a TTL-compatible logic signal.