David: A 3-Phase panel consists of a series of legs in which every third one is a high leg that outputs 220 volts (or 208 or 230 or...) and the others output 110. You can easily put a single phase 220 breaker in two of the adjacent 110 legs and run your single phase VFD.
Due to length of run from main panel in my shop I set up a 80 Amp sub panel by the shop bot. We also have some equipment that is 3 phase and some that is not. One can use a high leg and low leg in combination for a 220 single phase circuit but make sure you never use a high leg for a 110 circuit.
If your panel isn't already marked for which are the high legs or anything Frank (above)or I seems to be confusing then take his advice and for the small service call get an electrician.
The specs on your VFD say it is comfortable running anywhere from from 200V to 230 volt input. Therefore your 210 actual should be just fine.