From your controller manual you linked too:
Analog Outputs
(0-10 VDC @ 10 mA)
That means the 0-10v output can supply only up to 10ma or put another way can only drive a load of 1,000 ohm or more. Your motor is likely much lower resistance then that so the voltage output can not drive it.
You would need to supply a current amplifier to drive a motor with this output signal.
Lefty