I used to be in the motion control industry and my employer used to sell Yaskawa drives+motors.
You will need the correct servo drive for this. It'll take single phase power and manage everything for you.
The drives can run in a few different modes- Torque control (you provide +/-10V as a torque control), Speed Control (you provide +/-10V as speed control) and possibly a position control..
It may be possible to communicate with the drive over ModBUS and so the command would be digital from the RaspPi. You can use a Line Driver to give yourself RS485 signal levels from the RasPi UART.
This would be my preference as the Servo Drive can then take care of the realtime operations, leaving the Pi for other things.
Yaskawa drives are very good, and also have a pretty good AutoTune feature, so set-up can be fairly easy.
I doubt you'll get much from the Motor without the correct Servo Drive.
It's possible to DIY, but I would expect this to be difficult to do well, RasPi & Linux is not "real-time" and really not suited to this task. With the high voltage electronics and complicated AC signals, you would be better getting a simple AC motor with an inverter drive, or using the correct Servo Drive.