That controller has opto-isolators on its inputs, wire the (-) connections to Arduino ground and the (+) ones to relevant pins - the controller needs a few mA and 3.5 to 8.6V so it'll work fine at 5V.
That controller has opto-isolators on its inputs, wire the (-) connections to Arduino ground and the (+) ones to relevant pins - the controller needs a few mA and 3.5 to 8.6V so it'll work fine at 5V.